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.
Passivity based visual servoing of a UAV for tracking crop lines
2017-09-01
330390 byte
Conference paper
Electronic Resource
English
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