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Kinematic Visual Servo Controls of an X4-flyer: Practical Study

Bourquardez, Odile; Guenard, Nicolas; Hamel, Tarek; Chaumette, Francois; Mahony, Robert; Eck, Laurent


Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow to decouple the position control scheme from the rotation dynamics. This property is suitable to control an under-actuated aerial vehicle...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of CISA 2008
DOI: 10.1063/1.2953011


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