Adaptive visual servoing of unmanned aerial vehicles in GPS-denied environments

Xie, H; Low, KH; He, Z

Adaptive visual servoing of unmanned aerial vehicles in GPS-denied environments

Xie, H

Low, KH He, Z

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Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2017, 22 (6), pp. 2554 - 2563
Issue Date:: 2017-12-01

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Field	Value	Language
dc.contributor.author	Xie, H https://orcid.org/0000-0003-0164-3940	en_US
dc.contributor.author	Low, KH	en_US
dc.contributor.author	He, Z	en_US
dc.date.issued	2017-12-01	en_US
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2017, 22 (6), pp. 2554 - 2563	en_US
dc.identifier.issn	1083-4435	en_US
dc.identifier.uri	http://hdl.handle.net/10453/123502
dc.description.abstract	© 1996-2012 IEEE. This paper presents an adaptive output feedback-based visual servoing law for a quadrotor unmanned aerial vehicle equipped with a single downward facing camera. The objective is to regulate the relative position and yaw of the vehicle to a planar target consisting of multiple points using a minimal sensor set, i.e., an inertial measurement unit and a vision sensor. A set of first order image moment features, defined in the image plane of a virtual camera with zero roll and pitch motion, is used for visual servoing. It has been observed in previous work that various system uncertainties, such as aerodynamics constants and attitude estimation bias, result in steady-state errors if not being compensated. By treating those uncertainties as unknown system parameters, an adaptive backstepping controller is developed. As the given visual servoing law is an output feedback controller, the translational velocity measurement from the global position system is not required. The asymptotic stability of the error dynamics is proven. Experimental results are provided to demonstrate the controller performance.	en_US
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics	en_US
dc.relation.isbasedon	10.1109/TMECH.2017.2755669	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Adaptive visual servoing of unmanned aerial vehicles in GPS-denied environments	en_US
dc.type	Journal Article
utslib.citation.volume	6	en_US
utslib.citation.volume	22	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	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.issue	6	en_US
pubs.publication-status	Published	en_US
pubs.volume	22	en_US

Abstract:

© 1996-2012 IEEE. This paper presents an adaptive output feedback-based visual servoing law for a quadrotor unmanned aerial vehicle equipped with a single downward facing camera. The objective is to regulate the relative position and yaw of the vehicle to a planar target consisting of multiple points using a minimal sensor set, i.e., an inertial measurement unit and a vision sensor. A set of first order image moment features, defined in the image plane of a virtual camera with zero roll and pitch motion, is used for visual servoing. It has been observed in previous work that various system uncertainties, such as aerodynamics constants and attitude estimation bias, result in steady-state errors if not being compensated. By treating those uncertainties as unknown system parameters, an adaptive backstepping controller is developed. As the given visual servoing law is an output feedback controller, the translational velocity measurement from the global position system is not required. The asymptotic stability of the error dynamics is proven. Experimental results are provided to demonstrate the controller performance.

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http://hdl.handle.net/10453/123502