Dynamic image-based visual servo control for an aerial robot: Theory and experiments

Florent Le Bras; Robert Mahony; Tarek Hamel; Paolo Binetti

doi:10.1080/15599610802303579

Dynamic image-based visual servo control for an aerial robot: Theory and experiments

Florent Le Bras, Robert Mahony, Tarek Hamel^*, Paolo Binetti

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

20 Citations (Scopus)

Abstract

This article considers the question of dynamic image-based visual servo control for a vertical take-off and landing unmanned aerial vehicle. The visual targets considered are colored blobs on a flat surface to which the normal direction is known. A fully nonlinear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a modified first order spherical moment for position regulation and optic flow for velocity damping.

Original language	English
Pages (from-to)	296-325
Number of pages	30
Journal	International Journal of Optomechatronics
Volume	2
Issue number	3
DOIs	https://doi.org/10.1080/15599610802303579
Publication status	Published - 2008

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Dynamic image-based visual servo control for an aerial robot: Theory and experiments

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