Relative position-based visual servoing control for quadrotors

Michael J. Tribou, Adeel Akhtar, Steven L. Waslander

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper presents a position-based visual servoing control system that allows a quadrotor aerial robot with a single onboard camera to track a four degree of freedom relative pose trajectory with respect to a free-moving unknown target object composed of visual point features. The proposed vision system is able to estimate both the six degree of freedom relative motion and the target object model structure using only the images captured from the camera and recover scale using a minimal set of inter-feature point distances. An inner-loop attitude controller is used with an outer-loop position trajectory tracking control law to follow a relative trajectory with respect to the target object, while both bodies move in the inertial frame. The performance of the proposed algorithms are evaluated in simulation.copy; 2012 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2012
PublisherAmerican Institute of Aeronautics and Astronautics Inc.custserv@aiaa.org
ISBN (Print)9781600869389
DOIs
StatePublished - Jan 1 2012
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2023-10-11

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