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 |
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| container_title | IEEE transactions on industrial electronics (1982) |
| container_volume | 65 |
| creator | Zheng, Dongliang Wang, Hesheng Chen, Weidong Wang, Yong |
| description | 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. |
| doi_str_mv | 10.1109/TIE.2017.2752124 |
| format | Article |
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Finally, real-world experiments are conducted to validate this method.</description><identifier>ISSN: 0278-0046</identifier><identifier>EISSN: 1557-9948</identifier><identifier>DOI: 10.1109/TIE.2017.2752124</identifier><identifier>CODEN: ITIED6</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Aerospace electronics ; Cameras ; Control stability ; Image-based visual servoing (IBVS) ; nonlinear control ; Planning ; quadrotor ; Stability analysis ; Tracking control ; Trajectory ; Trajectory control ; trajectory tracking ; unmanned aerial vehicle ; Unmanned aerial vehicles ; Unmanned helicopters ; Virtual cameras ; Visibility ; Visual control ; Visual servoing ; Visual tasks ; Visualization</subject><ispartof>IEEE transactions on industrial electronics (1982), 2018-04, Vol.65 (4), p.3376-3385</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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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.</description><subject>Aerospace electronics</subject><subject>Cameras</subject><subject>Control stability</subject><subject>Image-based visual servoing (IBVS)</subject><subject>nonlinear control</subject><subject>Planning</subject><subject>quadrotor</subject><subject>Stability analysis</subject><subject>Tracking control</subject><subject>Trajectory</subject><subject>Trajectory control</subject><subject>trajectory tracking</subject><subject>unmanned aerial vehicle</subject><subject>Unmanned aerial vehicles</subject><subject>Unmanned helicopters</subject><subject>Virtual cameras</subject><subject>Visibility</subject><subject>Visual control</subject><subject>Visual servoing</subject><subject>Visual tasks</subject><subject>Visualization</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kEFLw0AQRhdRsFbvgpcFz6mzm90ke9TSaqGg0up1mSSTktpm624j-O9NSPE0fPC-GeYxditgIgSYh_ViNpEg0olMtRRSnbGR0DqNjFHZORuBTLMIQCWX7CqELYBQWugRW73tsGnqZsOxKfnaY_HVh7rhiz1uiK8OWBCvnB9y9ISBSv5ZhxZ3fEX-x_W4qzjy9xZL747OX7OLCneBbk5zzD7ms_X0JVq-Pi-mj8uokEYco8TkBLHSRmmUokxllsWClJLG5FWmQQMlWmBiipxIoaYEAapSxnGBZVXm8ZjdD3sP3n23FI5261rfdCetFGn3n9KZ6SgYqMK7EDxV9uDrPfpfK8D26mynzvbq7EldV7kbKjUR_eMZxIlUEP8BQaBolw</recordid><startdate>20180401</startdate><enddate>20180401</enddate><creator>Zheng, Dongliang</creator><creator>Wang, Hesheng</creator><creator>Chen, Weidong</creator><creator>Wang, Yong</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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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.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TIE.2017.2752124</doi><tpages>10</tpages><orcidid>https://orcid.org/0000-0003-4807-6605</orcidid><orcidid>https://orcid.org/0000-0002-9959-1634</orcidid></addata></record> |
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| ispartof | IEEE transactions on industrial electronics (1982), 2018-04, Vol.65 (4), p.3376-3385 |
| issn | 0278-0046 1557-9948 |
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| source | IEEE Electronic Library (IEL) |
| subjects | Aerospace electronics Cameras Control stability Image-based visual servoing (IBVS) nonlinear control Planning quadrotor Stability analysis Tracking control Trajectory Trajectory control trajectory tracking unmanned aerial vehicle Unmanned aerial vehicles Unmanned helicopters Virtual cameras Visibility Visual control Visual servoing Visual tasks Visualization |
| title | Planning and Tracking in Image Space for Image-Based Visual Servoing of a Quadrotor |
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