Sciweavers

Share
TROB
2008

A Practical Visual Servo Control for an Unmanned Aerial Vehicle

9 years 10 months ago
A Practical Visual Servo Control for an Unmanned Aerial Vehicle
An image-based visual servo control is presented for an Unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted on board the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics are decoupled using a visual error based on spherical centroid data, along with estimations of the linear velocity and the gravitational inertial direction extracted from image features and an embedded IMU. The visual error used compensates for poor conditioning of the image Jacobian matrix by introducing a non-homogeneous gain term adapted to the visual sensitivity of the error measurements. A nonlinear controller, that ensures exponential convergence of the system considered, is derived for the full dynamics of the system using control Lyapunov function design techniques. Experimental results on a quad-rotor UAV, developed in the French Atomic Energy Commission...
Nicolas Guenard, Tarek Hamel, Robert E. Mahony
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TROB
Authors Nicolas Guenard, Tarek Hamel, Robert E. Mahony
Comments (0)
books