Output feedback image-based visual servoing of rotorcrafts
This paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its pos...
| Main Authors: | , , , |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2019
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/87223 http://hdl.handle.net/10220/48317 |
| _version_ | 1811682082692268032 |
|---|---|
| author | Li, Jianan Xie, Hui Ma, Rui Low, Kin Huat |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Li, Jianan Xie, Hui Ma, Rui Low, Kin Huat |
| author_sort | Li, Jianan |
| collection | NTU |
| description | This paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its position and heading relative to a planar visual target consisting of multiple points. As compared to our previous work, twofold improvement is made. First, the desired value of the image feature of controlling the vertical motion of the RUAV is a function of other image features instead of a constant. This modification helps to keep the visual target stay in the camera’s field of view by indirectly adjusting the height of the vehicle. Second, the proposed approach simplifies our previous output feedback law by reducing the dimension of the observer filter state space while the same asymptotic stability result is kept. Both simulation and experimental results are presented to demonstrate the performance of the proposed controller. |
| first_indexed | 2024-10-01T03:51:11Z |
| format | Journal Article |
| id | ntu-10356/87223 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:51:11Z |
| publishDate | 2019 |
| record_format | dspace |
| spelling | ntu-10356/872232023-03-04T17:15:01Z Output feedback image-based visual servoing of rotorcrafts Li, Jianan Xie, Hui Ma, Rui Low, Kin Huat School of Mechanical and Aerospace Engineering Image-based Visual Servoing DRNTU::Engineering::Mechanical engineering Rotorcraft UAV This paper presents an improved output feedback based image-based visual servoing (IBVS) law for rotorcraft unmanned aerial vehicles (RUAVs). The control law enables a RUAV with a minimal set of sensors, i.e. an inertial measurement unit (IMU) and a single downward facing camera, to regulate its position and heading relative to a planar visual target consisting of multiple points. As compared to our previous work, twofold improvement is made. First, the desired value of the image feature of controlling the vertical motion of the RUAV is a function of other image features instead of a constant. This modification helps to keep the visual target stay in the camera’s field of view by indirectly adjusting the height of the vehicle. Second, the proposed approach simplifies our previous output feedback law by reducing the dimension of the observer filter state space while the same asymptotic stability result is kept. Both simulation and experimental results are presented to demonstrate the performance of the proposed controller. Accepted version 2019-05-22T05:23:07Z 2019-12-06T16:37:35Z 2019-05-22T05:23:07Z 2019-12-06T16:37:35Z 2019 Journal Article Li, J., Xie, H., Ma, R., & Low, K. H. (2019). Output Feedback Image-Based Visual Servoing of Rotorcrafts. Journal of Intelligent & Robotic Systems, 93(1-2), 277-287. doi:10.1007/s10846-018-0826-4 0921-0296 https://hdl.handle.net/10356/87223 http://hdl.handle.net/10220/48317 10.1007/s10846-018-0826-4 en Journal of Intelligent & Robotic Systems © 2018 Springer Science+Business Media B.V., part of Springer Nature. All rights reserved.This is a post-peer-review, pre-copyedit version of an article published in Journal of Intelligent & Robotic Systems. The final authenticated version is available online at: http://dx.doi.org/10.1007/s10846-018-0826-4. 12 p. application/pdf |
| spellingShingle | Image-based Visual Servoing DRNTU::Engineering::Mechanical engineering Rotorcraft UAV Li, Jianan Xie, Hui Ma, Rui Low, Kin Huat Output feedback image-based visual servoing of rotorcrafts |
| title | Output feedback image-based visual servoing of rotorcrafts |
| title_full | Output feedback image-based visual servoing of rotorcrafts |
| title_fullStr | Output feedback image-based visual servoing of rotorcrafts |
| title_full_unstemmed | Output feedback image-based visual servoing of rotorcrafts |
| title_short | Output feedback image-based visual servoing of rotorcrafts |
| title_sort | output feedback image based visual servoing of rotorcrafts |
| topic | Image-based Visual Servoing DRNTU::Engineering::Mechanical engineering Rotorcraft UAV |
| url | https://hdl.handle.net/10356/87223 http://hdl.handle.net/10220/48317 |
| work_keys_str_mv | AT lijianan outputfeedbackimagebasedvisualservoingofrotorcrafts AT xiehui outputfeedbackimagebasedvisualservoingofrotorcrafts AT marui outputfeedbackimagebasedvisualservoingofrotorcrafts AT lowkinhuat outputfeedbackimagebasedvisualservoingofrotorcrafts |