A practical Visual Servo Control for a Unmanned Aerial Vehicle
An image-based visual servo control is presented for an Unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight. The proposed control design addresses visual servo of 'eye-in-hand' type systems. The control of the position and orientation dynamics are decoupled using a visual error based on a spherical centroid data, along with estimation of the gravitational inertial direction. The error used compensates for the poor conditioning of the Jacobian matrix seen in earlier...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of ICRA '07|
|01_Guenard_A_practical_Visual_Servo_2007.pdf||346.85 kB||Adobe PDF||Request a copy|
|02_Guenard_A_practical_Visual_Servo_2007.pdf||499.68 kB||Adobe PDF||Request a copy|
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