Title :
A new hybrid approach for the visual servoing of VTOL UAVs from unknown geometries
Author :
Araar, Oualid ; Aouf, Nabil
Author_Institution :
Centre for Electron. Warfare, Cranfield Univ., Shrivenham, UK
Abstract :
This paper presents a new solution for the visual servoing of the translational kinematics of a Vertical Takeoff and landing (VTOL) vehicle. While previous works mainly focused on the servoing from known objects, the present paper deals with the servoing from objects of unknown geometries. The proposed solution is a hybrid controller that combines the global stability of Position Based (PBVS) schemes with the robustness of Image Based (IBVS) approaches. This is achieved using a switching strategy, which favours the advantageous approach based on the average servoing error. Simulation results, based on a full nonlinear model of a Quadrotor UAV, are provided to validate the proposed solution.
Keywords :
autonomous aerial vehicles; robot kinematics; robot vision; stability; visual servoing; IBVS; PBVS scheme; VTOL UAVs; average servoing error; full nonlinear model; global stability; hybrid controller approach; image based approaches; position based schemes; quadrotor UAV; switching strategy; translational kinematics; unknown geometries; unmanned aerial vehicles; vertical takeoff and landing vehicle; visual servoing; Cameras; Mathematical model; Switches; Three-dimensional displays; Transmission line matrix methods; Vehicles; Visual servoing;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961576
