Image-Based Visual Servo Control of the Translation Kinematics of a Quadrotor Aerial Vehicle

In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position of a quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and demonstrate excellent performance.

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Bibliographic Details
Published in:IEEE transactions on robotics 2009, Vol.25 (3), p.743-749
Main Authors: Bourquardez, O., Mahony, R., Guenard, N., Chaumette, F., Hamel, T., Eck, L.
Format: Article
Language:English
Subjects:
Aerial robotic vehicle
Aerials
Applied sciences
Autonomous
Cameras
Computer Science
Computer science
control theory
systems
Control
Control algorithms
Control theory
Control theory. Systems
Exact sciences and technology
Helicopters
Kinematics
Manipulators
Mobile robots
Remotely operated vehicles
Robot sensing systems
Robotics
Servomechanisms
Servosystems
Stability
Translations
Unmanned aerial vehicles
Vehicles
Visual
visual servoing
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Description
Summary:In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position of a quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and demonstrate excellent performance.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.2011419