Adaptive visual servoing of UAVs using a virtual camera

Hui Xie; Geoff Fink; Alan F. Lynch; Martin Jagersand

doi:10.1109/TAES.2016.15-0155

Adaptive visual servoing of UAVs using a virtual camera

Hui Xie, Geoff Fink, Alan F. Lynch, Martin Jagersand

Western Sydney University

Research output: Contribution to journal › Article › peer-review

Abstract

We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller’s derivation. The control is adaptive to various system parameters. We prove exponential stability of the error dynamics. Experimental results demonstrate controller performance.

Original language	English
Article number	7812893
Pages (from-to)	2529-2538
Number of pages	10
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	52
Issue number	5
DOIs	https://doi.org/10.1109/TAES.2016.15-0155
Publication status	Published - 2016

Keywords

cameras
drone aircraft
observers (control theory)
visual servoing

Access to Document

10.1109/TAES.2016.15-0155

Cite this

@article{18e59d361fa149399ceee59e9b1431e3,

title = "Adaptive visual servoing of UAVs using a virtual camera",

abstract = "We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller{\textquoteright}s derivation. The control is adaptive to various system parameters. We prove exponential stability of the error dynamics. Experimental results demonstrate controller performance.",

keywords = "cameras, drone aircraft, observers (control theory), visual servoing",

author = "Hui Xie and Geoff Fink and Lynch, {Alan F.} and Martin Jagersand",

year = "2016",

doi = "10.1109/TAES.2016.15-0155",

language = "English",

volume = "52",

pages = "2529--2538",

journal = "IEEE Transactions on Aerospace and Electronic Systems",

issn = "1557-9603",

publisher = "Institute of Electrical and Electronics Engineers",

number = "5",

}

TY - JOUR

T1 - Adaptive visual servoing of UAVs using a virtual camera

AU - Xie, Hui

AU - Fink, Geoff

AU - Lynch, Alan F.

AU - Jagersand, Martin

PY - 2016

Y1 - 2016

N2 - We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller’s derivation. The control is adaptive to various system parameters. We prove exponential stability of the error dynamics. Experimental results demonstrate controller performance.

AB - We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller’s derivation. The control is adaptive to various system parameters. We prove exponential stability of the error dynamics. Experimental results demonstrate controller performance.

KW - cameras

KW - drone aircraft

KW - observers (control theory)

KW - visual servoing

UR - http://handle.westernsydney.edu.au:8081/1959.7/uws:49389

U2 - 10.1109/TAES.2016.15-0155

DO - 10.1109/TAES.2016.15-0155

M3 - Article

SN - 1557-9603

SN - 0018-9251

VL - 52

SP - 2529

EP - 2538

JO - IEEE Transactions on Aerospace and Electronic Systems

JF - IEEE Transactions on Aerospace and Electronic Systems

IS - 5

M1 - 7812893

ER -

Adaptive visual servoing of UAVs using a virtual camera

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this