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A Practical Visual Servo Control for an Unmanned Aerial Vehicle

Guenard, Nicolas; Hamel, Tarek; Mahony, Robert


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]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
Source: IEEE Transactions on Robotics
DOI: 10.1109/TRO.2008.916666


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