Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle

O. Bourquardez (1) , R. Mahony (2) , N. Guenard (3) , François Chaumette (1) , Tarek Hamel (4) , L. Eck (3)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
2 ANU - Australian National University - Department of engineering
3 LIST (CEA) - Laboratoire d'Intégration des Systèmes et des Technologies
4 Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES

In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position of a quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and demonstrate excellent performance.

Domaines: Robotique [cs.RO]

O. Bourquardez, R. Mahony, N. Guenard, François Chaumette, Tarek Hamel, et al.. Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle. IEEE Transactions on Robotics, 2009, 25 (3), pp.743-749. ⟨inria-00436722⟩