Name
Title | ||
|---|---|---|
Image Based Visual Servo control for Fixed Wing UAVs tracking linear infrastructure in wind |
Abstract | ||
|---|---|---|
This paper presents an Image Based Visual Servo control design for Fixed Wing Unmanned Aerial Vehicles tracking locally linear infrastructure in the presence of wind using a body fixed imaging sensor. Visual servoing offers improved data collection by posing the tracking task as one of controlling a feature as viewed by the inspection sensor, although is complicated by the introduction of wind as aircraft heading and course angle no longer align. In this work it is shown that the effects of wind alter the desired line angle required for continuous tracking to equal the wind correction angle as would be calculated to set a desired course. A control solution is then sort by linearizing the interaction matrix about the new feature pose such that kinematics of the feature can be augmented with the lateral dynamics of the aircraft, from which a state feedback control design is developed. Simulation results are presented comparing no compensation, integral control and the proposed controller using the wind correction angle, followed by an assessment of response to atmospheric disturbances in the form of turbulence and wind gusts. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/ICRA.2013.6631406 | Robotics and Automation |
Keywords | DocType | Volume |
aircraft control,atmospheric turbulence,automatic optical inspection,autonomous aerial vehicles,image sensors,object tracking,state feedback,visual servoing,wind,aircraft heading,aircraft lateral dynamics,atmospheric disturbances,body fixed imaging sensor,compensation,course angle,data collection,feature kinematics,feature pose,fixed wing uav tracking linear infrastructure,fixed wing unmanned aerial vehicles tracking,image based visual servo control design,inspection sensor,integral control,interaction matrix,line angle,locally linear infrastructure,state feedback control design,turbulence,wind correction angle,wind gusts | Conference | 2013 |
Issue | ISSN | ISBN |
1 | 1050-4729 | 978-1-4673-5641-1 |
Citations | PageRank | References |
3 | 0.42 | 4 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Steven Mills | 1 | 41 | 17.74 |
| Nabil Aouf | 2 | 104 | 25.55 |
| Luis Mejias | 3 | 143 | 15.42 |