Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle

被引:160
作者
Bourquardez, Odile [1 ,2 ]
Mahony, Robert [3 ]
Guenard, Nicolas [4 ]
Chaumette, Francois [1 ,2 ]
Hamel, Tarek [5 ]
Eck, Laurent [4 ]
机构
[1] Inst Rech Informat & Syst Aleatoires, CNRS, F-35042 Rennes, France
[2] Inst Natl Rech Informat & Automat, F-35042 Rennes, France
[3] Australian Natl Univ, Dept Engn, Canberra, ACT 0200, Australia
[4] CEA List, F-92265 Fontenay Aux Roses, France
[5] UNSA, CNRS, Lab Informat Signaux & Syst Sophia Antipolis I3S, F-06903 Sophia Antipolis, France
关键词
Aerial robotic vehicle; visual servoing;
D O I
10.1109/TRO.2008.2011419
中图分类号
TP24 [机器人技术];
学科分类号
140102 [集成电路设计与设计自动化];
摘要
In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position of a quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and demonstrate excellent performance.
引用
收藏
页码:743 / 749
页数:7
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