Lateral control of an aerial unmanned robot using visual servoing techniques

Author

Carvalho, Heitor ; Bueno, Samuel S. ; Rives, Patrick

fYear

2001

fDate

2001

Firstpage

263

Lastpage

268

Abstract

This work addresses the issue of the lateral control of an outdoor robotic airship while following a predefined path using visual servoing techniques. The vision-based control application is based on an interaction matrix related to line features extracted from an on-board camera as feedback signals. An output LQR controller for the visual servo control is designed using the lateral dynamic model of the airship. The proposed approach is validated using a realistic simulator of the AS-800 unmanned airship

Keywords

aircraft control; balloons; feature extraction; feedback; linear quadratic control; matrix algebra; mobile robots; robot vision; AS-800; aerial unmanned robot; feedback signals; interaction matrix; lateral control; line feature extraction; outdoor robotic airship; output LQ controller; output LQR controller; vision-based control application; visual servo control; visual servoing techniques; Aerodynamics; Automatic control; Cameras; Robot sensing systems; Robot vision systems; Robotics and automation; Servosystems; Unmanned aerial vehicles; Vehicle dynamics; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

Conference_Location

Bukowy Dworek

Print_ISBN

83-7143-515-0

Type

conf

DOI

10.1109/ROMOCO.2001.973465

Filename

973465