Adaptive visual servoing of UAVs using a virtual camera

Xie, H; Fink, G; Lynch, AF; Jagersand, M

Adaptive visual servoing of UAVs using a virtual camera

Xie, H

Fink, G Lynch, AF Jagersand, M

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Publication Type:: Journal Article
Citation:: IEEE Transactions on Aerospace and Electronic Systems, 2016, 52 (5), pp. 2529 - 2538
Issue Date:: 2016-10-01

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Fink, G	en_US
dc.contributor.author	Lynch, AF	en_US
dc.contributor.author	Jagersand, M	en_US
dc.date.issued	2016-10-01	en_US
dc.identifier.citation	IEEE Transactions on Aerospace and Electronic Systems, 2016, 52 (5), pp. 2529 - 2538	en_US
dc.identifier.issn	0018-9251	en_US
dc.identifier.uri	http://hdl.handle.net/10453/118453
dc.description.abstract	© 2016 IEEE. 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.	en_US
dc.relation.ispartof	IEEE Transactions on Aerospace and Electronic Systems	en_US
dc.relation.isbasedon	10.1109/TAES.2016.15-0155	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Aerospace & Aeronautics	en_US
dc.title	Adaptive visual servoing of UAVs using a virtual camera	en_US
dc.type	Journal Article
utslib.citation.volume	5	en_US
utslib.citation.volume	52	en_US
utslib.for	091303 Autonomous Vehicles	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0901 Aerospace Engineering	en_US
utslib.for	0909 Geomatic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
utslib.copyright.status	closed_access	*
pubs.issue	5	en_US
pubs.publication-status	Published	en_US
pubs.volume	52	en_US

Abstract:

© 2016 IEEE. 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.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/118453