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

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 03期

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

页码：743 / 749

页数：7

共 30 条

[1]

Control of a quadrotor helicopter using dual camera visual feedback [J].