Adaptive depth estimation in image based visual servo control of dynamic systems
Date
2005
Authors
Mahony, Robert
von Brasch, Arved
Corke, Peter Ian
Hamel, Tarek
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Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system.
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Keywords
Keywords: Adaptive control systems; Closed loop control systems; Feature extraction; Image analysis; Robot applications; Velocity measurement; Adaptive depth estimation; Aerial robotic vehicles; Servo control of dynamic systems; Visual servo control; Control system
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Source
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005
Type
Conference paper
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Restricted until
2037-12-31
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