Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach

摘要：

This paper presents an image-based visual servoing for controlling the position and orientation of a quadrotor using a fixed downward camera observing landmarks on the level ground. In the proposed method, the negative feedback to the image moments is used to control the vertical motion and rotation around the roll axis. On the other hand, the negative feedback cannot be used to control the horizontal motion due to under-actuation of a quadrotor. Thus, a novel control method is introduced to control the horizontal motion. Simulations are presented to validate the proposed method.

作者: Ryuta Ozawa Fran(c)ois Chaumette

作者单位: Department of Robotics,Ritsumeikan University,Shiga,525-8577 JAPAN INRIA Rennes-Bretagne Atlantique and IRISA,35 042 Rennes,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5670-5676

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）