Title :
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
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;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.564
