The rapid expansion of quadrotor technology has given rise to a series of security predicaments, motivating countries to invest in the research and development of quadrotor interception technologies and equipment. However, the existing interception techniques encounter numerous problems, such as high interception costs, low reliability, and unsatisfactory interception results. Consequently, this paper proposes a scheme for intercepting intruder by employing a quadrotor equipped with a fixed monocular camera. Nevertheless, the strong coupling between the fixed camera and the motion of the quadrotor poses a challenge to the design of the interception controller. To address this issue, an image-based visual servo controller with field constraints based on the control barrier function is presented in this paper, achieving the interception of the intruder by controlling the three-dimensional motion of the quadrotor. This method avoids the problem of the quadrotor flying backward due to coupling and ensures that the intruder remains within the field of view, improving the interception effectiveness. Finally, a significant number of simulations and experiments have verified the efficacy of the proposed method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Control Barrier Function-Based Quadrotor Interception Control Using Visual Servoing


    Contributors:
    Tang, Jian (author) / Deng, Zhiyuan (author) / Zhang, Hao (author) / Jiang, Tao (author) / Wang, Chenyang (author) / Ke, Zhiwu (author)


    Publication date :

    2024-10-18


    Size :

    9414532 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    High-Speed Interception Multicopter Control by Image-based Visual Servoing

    Yang, Kun / Bai, Chenggang / She, Zhikun et al. | ArXiv | 2024

    Free access

    Adaptive Image-Based Visual Servoing for an Underactuated Quadrotor System

    Lee, Daewon / Lim, Hyon / Kim, H. Jin et al. | AIAA | 2012



    Position-Based Visual Servoing for Target Tracking by a Quadrotor UAV

    Popova, Marinela G. / Liu, Hugh H. | AIAA | 2016