Visual servoing for underactuated VTOL UAVs: A linear, Homography-Based Approach

Author

De Plinval, Henry ; Morin, Pascal ; Mouyon, Philippe ; Hamel, Tarek

Author_Institution

ONERA, Toulouse, France

fYear

2011

fDate

9-13 May 2011

Firstpage

3004

Lastpage

3010

Abstract

The paper addresses the control of Vertical Take Off and Landing (VTOL) Underactuated Autonomous Vehicles (UAVs) in hover flight, based on measurements provided by an on-board video camera and rate gyros. The objective is to stabilize the vehicle to the pose associated with a visual image of a planar target. By using the homography matrix computed from the camera measurements of the target, stabilizing feedback laws are derived. Explicit stability conditions on the control parameters are provided. It is shown that very good robustness and performance can be achieved without any apriori information on the visual target (like geometry, or orientation), by a proper tuning of the control parameters. Simulation results confirm the effectiveness of the approach.

Keywords

aircraft control; feedback; gyroscopes; mobile robots; remotely operated vehicles; stability; video cameras; visual servoing; control parameter tuning; explicit stability conditions; feedback law stability; homography matrix; hover flight; linear homography-based approach; on-board video camera; rate gyros; underactuated VTOL UAV; vehicle stability; vertical take off and landing underactuated autonomous vehicles; visual servoing; Cameras; Transmission line matrix methods; Vehicle dynamics; Vehicles; Visual servoing; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979741

Filename

5979741