Skip navigation
Skip navigation

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

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

Description

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
URI: http://hdl.handle.net/1885/29622
Source: Proceedings of CISA 2008
DOI: 10.1063/1.2953011

Download

File Description SizeFormat Image
01_Bourquardez_Kinematic_Visual_Servo_2008.pdf600.39 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  23 August 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator