Dynamic Visual Servoing with Image Moments for an Unmanned Aerial Vehicle Using a Virtual Spring Approach

Ryuta Ozawa 1 François Chaumette 2
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents an image-based visual servoing for controlling the position and orientation of an unmanned aerial vehicle (UAV) using a fixed downward camera observing landmarks on the level ground. In the proposed method, the visual servoing of the image moments is used to control the vertical motion and rotation around the roll axis. In contrast, an undesired positive feedback arises in visual errors because of the under-actuation of the UAV and this positive feedback makes it difficult to apply the visual servoing to the horizontal motion. Thus, a novel control method using the virtual spring is introduced to control the horizontal motion. The stability of the system is proved based on Lyapunov's direct method. Simulations are presented to validate the proposed method.
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Article dans une revue
Advanced Robotics, Taylor & Francis, 2013, 27 (9), pp.683-696
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Ryuta Ozawa, François Chaumette. Dynamic Visual Servoing with Image Moments for an Unmanned Aerial Vehicle Using a Virtual Spring Approach. Advanced Robotics, Taylor & Francis, 2013, 27 (9), pp.683-696. 〈hal-00807642〉

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