1. Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments
- Author
-
Florent Le Bras, Paolo Binetti, Tarek Hamel, and Robert Mahony
- Subjects
Adaptive control ,Computer science ,business.industry ,Mechanical Engineering ,Dynamic imaging ,Servo control ,Filter (signal processing) ,Computer Science::Robotics ,Moment (mathematics) ,Position (vector) ,Robot ,Computer vision ,Artificial intelligence ,Electrical and Electronic Engineering ,business ,Instrumentation ,Normal - Abstract
This article considers the question of dynamic image-based visual servo control for a vertical take-off and landing unmanned aerial vehicle. The visual targets considered are colored blobs on a flat surface to which the normal direction is known. A fully nonlinear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a modified first order spherical moment for position regulation and optic flow for velocity damping.
- Published
- 2008
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