Landing of a Quadrotor on a Moving Target Using Dynamic Image-Based Visual Servo Control

This paper addresses the landing problem of a vertical take-off and landing vehicle, exemplified by a quadrotor, on a moving platform using image-based visual servo control. Observable features on a flat and textured target plane are exploited to derive a suitable control law. The target plane may b...

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Bibliographic Details
Published in:IEEE transactions on robotics 2016-12, Vol.32 (6), p.1524-1535
Main Authors: Serra, Pedro, Cunha, Rita, Hamel, Tarek, Cabecinhas, David, Silvestre, Carlos
Format: Article
Language:English
Subjects:
Adaptive optics
Automatic landing
Control
Convergence
dynamic image-based visual servo (IBVS) control
Engineering Sciences
Measurement
Optical feedback
optical flow
Optical imaging
Position control
Robots
Servosystems
Simulation
unmanned aerial vehicle (UAV)
Vehicle dynamics
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Summary:This paper addresses the landing problem of a vertical take-off and landing vehicle, exemplified by a quadrotor, on a moving platform using image-based visual servo control. Observable features on a flat and textured target plane are exploited to derive a suitable control law. The target plane may be moving with bounded linear acceleration in any direction. For control purposes, the image of the centroid for a collection of landmarks is used as position measurement, whereas the translational optical flow is used as velocity measurement. The proposed control law guarantees convergence to the desired landing spot on the target plane, without estimating any parameter related to the unknown height, which is also guaranteed to remain strictly positive. Moreover, convergence is guaranteed even in the presence of bounded and possibly time-varying disturbances, resulting, for example, from the motion of the target plane, measurement errors, or wind-induced force disturbances. To improve performance, an estimator for unknown constant force disturbances is also included in the control law. Simulation and experimental results are provided to illustrate and assess the performance of the proposed controller.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2016.2604495