Cultural advice

The Australian National University acknowledges, celebrates and pays our respects to the Ngunnawal and Ngambri people of the Canberra region and to all First Nations Australians on whose traditional lands we meet and work, and whose cultures are among the oldest continuing cultures in human history.

Aboriginal and Torres Strait Islander peoples are advised that ANU Library collections may include images, names, voices, and other representations of deceased persons.

Material in the collection may contain terms, language or views that reflect the period in which the item was created and may be considered inappropriate today.

Adaptive filtering and image based visual servo control of a ducted fan flying robot

Simple item page
dc.contributor.authorLe Bras, Florent
dc.contributor.authorMahony, Robert
dc.contributor.authorHamel, Tarek
dc.contributor.authorBinetti, Paolo
dc.coverage.spatialSan Diego USA
dc.date.accessioned2015-12-08T22:42:13Z
dc.date.createdDecember 13-15 2006
dc.date.issued2006
dc.date.updated2015-12-08T10:33:54Z
dc.description.abstractThis paper considers the question of fully image based visual servo control for a Vertical Takeoff and landing (VTOL) Unmanned Aerial Vehicle. The visual targets considered are coloured blobs on a flat surface to which the normal direction is known. A fully non-linear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a first order spherical moment for position and an estimation of the optic flow measurement for velocity. Experimental results are presented showing the stabilization of the VTOL UAV HoverEye in front of a colored target.
dc.identifier.isbn1424401712
dc.identifier.urihttp://hdl.handle.net/1885/36992
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE Conference on Decision and Control 2006
dc.sourceProceedings of the 45th IEEE Conference on Decision and Control
dc.source.urihttp://www.ieeecss.org/CAB/conferences/cdc2006/index.php
dc.subjectKeywords: Adaptive control systems; Adaptive filtering; Unmanned aerial vehicles (UAV); Visual servoing; Asymptotic filters; Fan flying robot; Optic flow measurement; Mobile robots
dc.titleAdaptive filtering and image based visual servo control of a ducted fan flying robot
dc.typeConference paper
local.bibliographicCitation.lastpage1757
local.bibliographicCitation.startpage1751
local.contributor.affiliationLe Bras, Florent, Direction Generale de l'Armement
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.affiliationBinetti, Paolo, Bertin Technologies Society
local.contributor.authoruidMahony, Robert, u4033888
local.description.embargo2037-12-31
local.description.notesImported from ARIES
local.description.refereedYes
local.identifier.absfor090104 - Aircraft Performance and Flight Control Systems
local.identifier.absseo880302 - Air Passenger Transport
local.identifier.ariespublicationu4251866xPUB143
local.identifier.scopusID2-s2.0-39649100390
local.type.statusPublished Version

Downloads

Original bundle

Now showing 1 - 1 of 1
Thumbnail Image
Name:
01_Le Bras_Adaptive_filtering_and_image_2006.pdf
Size:
1.02 MB
Format:
Adobe Portable Document Format
Download

Collections

ANU Research Publications

DSpace software copyright © 2002-2026 LYRASIS