We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller's derivation. The control is adaptive to various system parameters. We prove exponential stability of the error dynamics. Experimental results demonstrate controller performance.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive visual servoing of UAVs using a virtual camera


    Contributors:
    Hui Xie (author) / Fink, Geoff (author) / Lynch, Alan F. (author) / Jagersand, Martin (author)


    Publication date :

    2016-10-01


    Size :

    1450399 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Dynamic output feedback image-based visual servoing of rotorcraft UAVs

    Xie, Hui / Li, Jianan / Low, K.H. | IEEE | 2017


    Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection

    Velasco-Sánchez, Edison P. / Recalde, Luis F. / Guevara, Bryan S. et al. | ArXiv | 2023

    Free access

    Experimental validation of dynamic visual servoing for a quadrotor using a virtual camera

    Fink, Geoff / Xie, Hui / Lynch, Alan F. et al. | IEEE | 2015


    Nonlinear Visual Servoing Control for VTOL UAVs with Field of View Constraint

    de Plinval, Henry / Burlion, Laurent | Springer Verlag | 2015


    Deep Reinforcement Learning for the Visual Servoing Control of UAVs with FOV Constraint

    Gui Fu / Hongyu Chu / Liwen Liu et al. | DOAJ | 2023

    Free access