Keeping a ground point in the camera field of view of a landing UAV

Author

Burlion, Laurent ; de Plinval, Henry

Author_Institution

ONERA, French Aerosp. Lab., Toulouse, France

fYear

2013

fDate

6-10 May 2013

Firstpage

5763

Lastpage

5768

Abstract

This paper proposes a key feature for vision based automatic landing of a UAV: the addition to a given control law of the constraint that a given ground point be maintained in the camera field of view (FoV). This feature is an application case of an output constraint method recently developed and available for any nonlinear system. This method is based on an observation made for relative degree one systems, and extended iteratively to any nonlinear system. The landing aircraft application case considered in this article consists of the design of a control law for an aircraft to maintain a given ground point in the camera field of view for visual servoing purpose. Simulation results confirm the effectiveness of the approach.

Keywords

aircraft control; autonomous aerial vehicles; control system synthesis; nonlinear control systems; robot vision; visual servoing; camera FoV; camera field of view; control law design; ground point; landing aircraft application; nonlinear system; observation made; output constraint method; relative degree one systems; vision based automatic UAV landing; visual servoing; Aerospace control; Aircraft; Aircraft propulsion; Cameras; Nonlinear systems; Trajectory; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631405

Filename

6631405