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

Xie, H; Lynch, A

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

Xie, H

Lynch, A

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Publication Type:: Conference Proceeding
Citation:: Canadian Conference on Electrical and Computer Engineering, 2016, 2016-October
Issue Date:: 2016-10-31

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Lynch, A	en_US
dc.date.issued	2016-10-31	en_US
dc.identifier.citation	Canadian Conference on Electrical and Computer Engineering, 2016, 2016-October	en_US
dc.identifier.isbn	9781467387217	en_US
dc.identifier.issn	0840-7789	en_US
dc.identifier.uri	http://hdl.handle.net/10453/120299
dc.description.abstract	© 2016 IEEE. 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.	en_US
dc.relation.ispartof	Canadian Conference on Electrical and Computer Engineering	en_US
dc.relation.isbasedon	10.1109/CCECE.2016.7726618	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Dynamic image-based visual servoing for unmanned aerial vehicles with bounded inputs	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2016-October	en_US
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
pubs.volume	2016-October	en_US

Abstract:

© 2016 IEEE. 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.

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http://hdl.handle.net/10453/120299