A Practical Visual Servo Control for an Unmanned Aerial Vehicle
An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target considered consists of a finite set of stationary and disjoint points lying in a plane. Control of the position and orientation dynamics is decoupled using a visual error based on spherical centroid data, along with estimations of the linear velocity and the gravitational inertial direction extracted from...[Show more]
|Collections||ANU Research Publications|
|Source:||IEEE Transactions on Robotics|
|01_Guenard_A_Practical_Visual_Servo_2008.pdf||871.46 kB||Adobe PDF||Request a copy|
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