Experimental validation of dynamic visual servoing for a quadrotor using a virtual camera

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

Experimental validation of dynamic visual servoing for a quadrotor using a virtual camera

Fink, G Xie, H

Lynch, AF Jagersand, M

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Publication Type:: Conference Proceeding
Citation:: 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, 2015, pp. 1231 - 1240
Issue Date:: 2015-01-01

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Field	Value	Language
dc.contributor.author	Fink, G	en_US
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Lynch, AF	en_US
dc.contributor.author	Jagersand, M	en_US
dc.date.issued	2015-01-01	en_US
dc.identifier.citation	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, 2015, pp. 1231 - 1240	en_US
dc.identifier.isbn	9781479960101	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120291
dc.description.abstract	© 2015 IEEE. This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor Unmanned Aerial Vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it based on the dynamics and kinematics of the vehicle. The proposed design relies on the notion of a virtual camera and image moments as visual features to simplify the kinematics and dynamics. The convergence of the closed-loop is proven to be globally asymptotically stable. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness.	en_US
dc.relation.ispartof	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015	en_US
dc.relation.isbasedon	10.1109/ICUAS.2015.7152416	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Experimental validation of dynamic visual servoing for a quadrotor using a virtual camera	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical 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.publication-status	Published	en_US

Abstract:

© 2015 IEEE. This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor Unmanned Aerial Vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it based on the dynamics and kinematics of the vehicle. The proposed design relies on the notion of a virtual camera and image moments as visual features to simplify the kinematics and dynamics. The convergence of the closed-loop is proven to be globally asymptotically stable. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness.

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http://hdl.handle.net/10453/120291