Visual Servoing of a Quadrotor UAV for the Tracking of Linear Structured Infrastructures

Author

Araar, Oualid ; Aouf, Nabil

Author_Institution

Dept. of Inf. & Syst. Eng., Cranfield Univ., Cranfield, UK

fYear

2013

fDate

13-16 Oct. 2013

Firstpage

3310

Lastpage

3315

Abstract

In this paper, we propose and compare two control schemes to achieve the visual tracking of structured linear infrastructures using a quad rotor UAV. The two schemes are both based on Hough parameters. The first one has the same advantages of Position Based Visual Servoing (PBVS) scheme, without the need of full 3D position estimation, while the second is an Image Based Visual Servoing (IBVS) scheme based on an optimal LQR servo controller. Simulation results based on a full nonlinear model of the quad rotor show the validity of the two proposed approaches and their main advantages.

Keywords

Hough transforms; autonomous aerial vehicles; linear quadratic control; nonlinear control systems; object tracking; servomechanisms; visual servoing; Hough parameters; IBVS scheme; PBVS scheme; control scheme; image based visual servoing scheme; nonlinear model; optimal LQR servo controller; position based visual servoing scheme; quadrotor UAV; structured linear infrastructure tracking; visual tracking; Cameras; Equations; Mathematical model; Three-dimensional displays; Vehicles; Visual servoing; Visualization; Hough space; Quadrotor; visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on

Conference_Location

Manchester

Type

conf

DOI

10.1109/SMC.2013.564

Filename

6722317