Dynamic image-based visual servoing for unmanned aerial vehicles with bounded inputs

Hui Xie, Alan F. Lynch

Research output: Chapter in Book / Conference PaperConference Paperpeer-review

5 Citations (Scopus)

Abstract

![CDATA[We present a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single downwards facing camera. The controller design is based on a dynamic model of the UAV and regulates the vehicle’s relative pose to a planar visual target. The proposed approach uses a virtual camera which has zero roll and pitch motion. The IBVS image features are defined in the virtual camera image plane. Since the image feature error is stabilized in the virtual camera, the visual target can leave the real camera’s field of view (FoV). To keep the visual target in the camera FoV, the proposed method bounds roll and pitch to sufficiently small prescribed values. A numerical simulation is presented to demonstrate the controller’s performance.]]
Original languageEnglish
Title of host publicationProceedings of the 29th Annual IEEE Canadian Conference on Electrical and Computer Engineering, 15-18 May 2016, Vancouver, Canada
PublisherIEEE
Number of pages5
ISBN (Print)9781467387217
DOIs
Publication statusPublished - 2016
EventCanadian Conference on Electrical and Computer Engineering -
Duration: 15 May 2016 → …

Conference

ConferenceCanadian Conference on Electrical and Computer Engineering
Period15/05/16 → …

Keywords

  • cameras
  • drone aircraft
  • quadrotors
  • visual servoing

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