Visual Servoing Of a Quadrotor UAV For the Tracking of Linear Structured Infrastructures

被引：11

作者：

Araar, O. ^{[1
]}

Aouf, N. ^{[1
]}

机构：

[1] Cranfield Univ, Def Acad, Dept Informat & Syst Engn, Cranfield MK43 0AL, Beds, England

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013) | 2013年

关键词：

Quadrotor; visual servoing; Hough space;

D O I：

10.1109/SMC.2013.564

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose and compare two control schemes to achieve the visual tracking of structured linear infrastructures using a quadrotor 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 quadrotor show the validity of the two proposed approaches and their main advantages.

引用

页码：3310 / 3315

页数：6

共 14 条

[1]

Aggarwal N, 2006, IEEE T IMAGE PROCESS, V15, P582, DOI 10.1109/TIP.2005.863021

[2]

Beaudry J., 2010, 1 INT C APPL ROB POW

[3] Visual servoing of an airplane for alignment with respect to a runway [J].

Bourquardez, Odile ;

Chaumette, Francois .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :1330-+

[4] Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle [J].

Bourquardez, Odile ;

Mahony, Robert ;

Guenard, Nicolas ;

Chaumette, Francois ;

Hamel, Tarek ;

Eck, Laurent .

IEEE TRANSACTIONS ON ROBOTICS, 2009, 25 (03) :743-749

[5]

Chaumette F., 1990, THESIS U RENNE 1, V528

[6] Viosual servo control - Part I: Basic approaches [J].

Chaumette, Francois ;

Hutchinson, Seth .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2006, 13 (04) :82-90

[7]

Dongjin Fan, 2012, 2012 International Conference on Audio, Language and Image Processing (ICALIP 2012). Proceedings, P45, DOI 10.1109/ICALIP.2012.6376584

[8] A NEW APPROACH TO VISUAL SERVOING IN ROBOTICS [J].

ESPIAU, B ;

CHAUMETTE, F ;

RIVES, P .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1992, 8 (03) :313-326

[9] Vision-based road-following using a small autonomous aircraft [J].

Frew, E ;

McGee, T ;

Kim, Z ;

Xiao, X ;

Jackson, S ;

Morimoto, M ;

Rathinam, S ;

Padial, J ;

Sengupta, R .

2004 IEEE AEROSPACE CONFERENCE PROCEEDINGS, VOLS 1-6, 2004, :3006-3015

[10]

Le Borgne M., 1991, ROBOTICA, V9, P447

← 1 2 →