TY - JOUR
T1 - A practical visual servo control for an unmanned aerial vehicle
AU - Guenard, Nicolas
AU - Hamel, Tarek
AU - Mahony, Robert
PY - 2008/4
Y1 - 2008/4
N2 - An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics is decoupled using a visual error based on spherical centroid data, along with estimations of the linear velocity and the gravitational inertial direction extracted from image features and an embedded inertial measurement unit. The visual error used compensates for poor conditioning of the image Jacobian matrix by introducing a nonhomogeneous gain term adapted to the visual sensitivity of the error measurements. A nonlinear controller, that ensures exponential convergence of the system considered, is derived for the full dynamics of the system using control Lyapunov function design techniques. Experimental results on a quadrotor UAV, developed by the French Atomic Energy Commission, demonstrate the robustness and performance of the proposed control strategy.
AB - An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics is decoupled using a visual error based on spherical centroid data, along with estimations of the linear velocity and the gravitational inertial direction extracted from image features and an embedded inertial measurement unit. The visual error used compensates for poor conditioning of the image Jacobian matrix by introducing a nonhomogeneous gain term adapted to the visual sensitivity of the error measurements. A nonlinear controller, that ensures exponential convergence of the system considered, is derived for the full dynamics of the system using control Lyapunov function design techniques. Experimental results on a quadrotor UAV, developed by the French Atomic Energy Commission, demonstrate the robustness and performance of the proposed control strategy.
KW - Aerial robotic vehicle
KW - Experiments
KW - Image-based visual servo (IBVS)
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=42549116211&partnerID=8YFLogxK
U2 - 10.1109/TRO.2008.916666
DO - 10.1109/TRO.2008.916666
M3 - Article
SN - 1552-3098
VL - 24
SP - 331
EP - 340
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 2
ER -