Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features
This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an unnormalized spherical centroid and an optic flow measurement. The image-plane...[Show more]
|Collections||ANU Research Publications|
|Source:||Journal of Dynamical Systems, Measurement and Control|
|01_Mahony_Dynamic_Image-Based_Visual_2008.pdf||338.84 kB||Adobe PDF||Request a copy|
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