Kinematic Visual Servo Controls of an X4-flyer: Practical Study
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]
|Collections||ANU Research Publications|
|Source:||Proceedings of CISA 2008|
|01_Bourquardez_Kinematic_Visual_Servo_2008.pdf||600.39 kB||Adobe PDF||Request a copy|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.