Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Article Dans Une Revue International Journal of Optomechatronics Année : 2008

Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing

Résumé

A unified modeling framework is defined and an image-based visual servoing scheme is introduced to evaluate the feasibility of a vision-based guidance for a UAV model during survey missions and for automatic landing. Relevant image features are selected to allow for the proposed objective, namely decoupling rotation and translation in the image, and allowing to respect the natural separation between the lateral and ongitudinal motions of the aircraft. The controller design is adapted to include the aircraft dynamics and the vision output in an linear optimal control approach. Simulation results are presented in order to validate the proposed solution and allow for a critical evaluation.
Fichier principal
Vignette du fichier
IJOP-VS-02R.pdf (288.61 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00766862 , version 1 (19-12-2012)

Identifiants

Citer

José Raul Azinheira, Patrick Rives. Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing. International Journal of Optomechatronics, 2008, 2, pp.275-295. ⟨10.1080/15599610802303314⟩. ⟨hal-00766862⟩
340 Consultations
291 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More