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A practical Visual Servo Control for a Unmanned Aerial Vehicle

Guenard, Nicolas; Hamel, Tarek; Mahony, Robert

Description

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]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
URI: http://hdl.handle.net/1885/56364
Source: Proceedings of ICRA '07
DOI: 10.1109/ROBOT.2007.363171

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02_Guenard_A_practical_Visual_Servo_2007.pdf499.68 kBAdobe PDF    Request a copy


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