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

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Conference Proceeding
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, 2015, pp. 1231 - 1240
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© 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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