Title :
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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979741
