Practical servoing of VTOL UAVs from object of unknown 3D geometry: new hybrid approach
| Autor: | Nabil Aouf, Oualid Araar |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
business.industry
Computer science ComputerApplications_COMPUTERSINOTHERSYSTEMS Visual servoing Hybrid approach Takeoff and landing Robustness (computer science) Control theory Media Technology Computer vision Computer Vision and Pattern Recognition 3d geometry Artificial intelligence Mechanics of planar particle motion business Image based Monocular camera |
| Zdroj: | The Imaging Science Journal. 63:476-487 |
| ISSN: | 1743-131X 1368-2199 |
| DOI: | 10.1179/1743131x15y.0000000023 |
| Popis: | This paper presents a new solution for the visual servoing of the translational kinematics of vertical takeoff and landing vehicles. While previous works mainly focused on the servoing from known objects under controlled conditions, the present paper deals with the servoing from objects of unknown three-dimensional (3D) geometry. The proposed technique is a hybrid controller that combines the global stability of position based visual servoing with the robustness of image based schemes. This is achieved using a switching strategy, which favours the advantageous controller based on the disparity between the reference and actual image. Although using a monocular camera, our technique supposes no knowledge about the 3D location of the features of interest. Only an approximation of the average depth of these features is required to realise a good tradeoff between performance and robustness. We validate the proposed control strategy on a quadrotor unmanned aerial vehicle in a mission of power assets inspection.... |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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