Title :
Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle
Author :
Bourquardez, Odile ; Mahony, Robert ; Guenard, Nicolas ; Chaumette, François ; Hamel, Tarek ; Eck, Laurent
Author_Institution :
Inst. de Rech. en Inf. et Syst. Aleatoires, Inst. Nat. de Rech. en Inf. et en Autom., Rennes
fDate :
6/1/2009 12:00:00 AM
Abstract :
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.
Keywords :
aircraft; image processing; rotors; servomechanisms; image-based visual servo control; quadrotor aerial vehicle; translation kinematics; Cameras; Helicopters; Kinematics; Manipulators; Mobile robots; Remotely operated vehicles; Robot sensing systems; Servomechanisms; Servosystems; Stability; Aerial robotic vehicle; visual servoing;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2008.2011419
