Image-Based Visual Servoing of Quad rotor using Homography Reconstruction

被引：0

作者：

Zheng, Shuo ^{[1
]}

Wu, Huai-Ning ^{[1
]}

Liu, Zhou-Yang ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China

来源：

PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC) | 2019年

基金：

中国国家自然科学基金;

关键词：

Visual servoing; homography reconstruction; quadrotor UAV; virtual camera plane; QUADROTOR;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel image-based visual servoing (IBVS) method is proposed for the case that the servoing target randomly and slowly tilts. With the basic IBVS function and virtual camera plane method, a four-dimensional image kinematics is derived. Then a transformation based homography reconstruction method is presented to solve the problem of tilting target plane by defining a new virtual camera plane. Subsequently the IBVS control laws are designed according to the quadrotor dynamics and transformed image kinematics. Finally, simulations show the validity and priority of the new method compared with the classic dynamic IBVS method.

引用

页码：4089 / 4094

页数：6

共 13 条

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