Autonomous flight with UAVs is a desirable feature in applications such as the surveillance and inspection of large areas including crop areas. In this context, the development of a passivity based visual servoing controller with dynamics compensation for the tracking of roads is presented in this paper. The proposed system allows the autonomous navigation of a UAV on straight lines such as those found in areas of structured crops. The stability of the controller is shown in the context of the input-output theory and based on the passivity properties of the system. The performance of the resulting control system is shown by simulation.


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    Title :

    Passivity based visual servoing of a UAV for tracking crop lines


    Contributors:


    Publication date :

    2017-09-01


    Size :

    330390 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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