Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach

Abstract : The paper addresses the control of Vertical Take Off and Landing (VTOL) Underactuated Autonomous Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera and rate gyros. The objective is to stabilize the vehicle to the pose associated with a visual image of a planar target. By using the homography matrix computed from the camera measurements of the target, stabilizing feedback laws are derived. Explicit stability conditions on the control parameters are provided. It is shown that very good robustness and performance can be achieved without any apriori information on the visual target (like geometry, or orientation), by a proper tuning of the control parameters. Simulation results confirm the effectiveness of the approach
Type de document :
Communication dans un congrès
IEEE International Conference on Robotics and Automation (ICRA), , May 2011, Shanghai, China
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01342426
Contributeur : Tarek Hamel <>
Soumis le : mercredi 6 juillet 2016 - 08:29:12
Dernière modification le : vendredi 12 août 2016 - 13:39:24

Identifiants

  • HAL Id : hal-01342426, version 1

Collections

Citation

Henry De Plinval, Pascal Morin, Philippe Mouyon, Tarek Hamel. Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach. IEEE International Conference on Robotics and Automation (ICRA), , May 2011, Shanghai, China. <hal-01342426>

Partager

Métriques

Consultations de la notice

53