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Landing on a moving target using image-based visual servo control

Abstract : This paper addresses the problem of landing a Vertical Take-Off and Landing (VTOL) quadrotor using image-based visual servo control. Observable features on a flat target plane are exploited to derive a suitable control law. The kinematics of a VTOL quadrotor system are expressed in terms of an unnormalized spherical centroid of features and optical flow is used as velocity measurement for control. The dynamics with respect to the force input are dependent on the distance between the camera and the target plane, which is not measurable by a simple vision system. The proposed control law guarantees convergence without estimating any parameter related to the unknown distance, which is also guaranteed to remain strictly positive. Simulation and experimental results are provided to illustrate and assess the performance of the proposed controller.
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https://hal.archives-ouvertes.fr/hal-01342060
Contributor : Tarek Hamel <>
Submitted on : Tuesday, July 5, 2016 - 1:03:33 PM
Last modification on : Tuesday, May 26, 2020 - 6:50:35 PM

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Pedro Serra, Rita Cunha, Tarek Hamel, David Cabecinhas, Carlos Silvestre. Landing on a moving target using image-based visual servo control . 53rd IEEE Conference on Decision and Control , Dec 2014, Los Angeles, United States. pp.0191-2216, ⟨10.1109/CDC.2014.7039721⟩. ⟨hal-01342060⟩

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