Planning and Tracking in Image Space for Image-Based Visual Servoing of a Quadrotor

A method is proposed to solve the image-based control of a quadrotor Unmanned Aerial Vehicle (UAV) by directly planning and tracking in image space. First, by adopting the virtual camera approach and choosing image moments, which are defined in the virtual image plane, as image features, we design t...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) 2018-04, Vol.65 (4), p.3376-3385
Hauptverfasser: Zheng, Dongliang, Wang, Hesheng, Chen, Weidong, Wang, Yong
Format: Artikel
Sprache:eng
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Zusammenfassung:A method is proposed to solve the image-based control of a quadrotor Unmanned Aerial Vehicle (UAV) by directly planning and tracking in image space. First, by adopting the virtual camera approach and choosing image moments, which are defined in the virtual image plane, as image features, we design the trajectories of the image features in image space to perform the image-based visual control task of the quadrotor. Then, a feature's trajectory tracking controller is proposed to track the designed trajectories. The stability of the proposed tracking controller is analyzed and proved by means of Lyapunov analysis. In addition, improved visibility during the image-based visual servoing process is achieved with this method. Simulation results are provided to show the feature's trajectory tracking performance. Finally, real-world experiments are conducted to validate this method.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2017.2752124