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Landing of a quadrotor on a moving target using dynamic image-based visual servo control
Pedro Serra1; Rita Cunha2; Tarek Hamel3; David Cabecinhas4; Carlos Silvestre1
2016-09-30
Source PublicationIEEE Transactions on Robotics
ISSN1552-3098
Volume32Issue:6Pages:1524-1535
Abstract

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 windinduced 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.

KeywordAutomatic Landing Dynamic Image-based Visual Servo (Ibvs) Control Optical Flow Unmanned Aerial Vehicle (Uav)
DOI10.1109/TRO.2016.2604495
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000389849700015
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Fulltext Access
Citation statistics
Cited Times [WOS]:81   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Department of Electrical and Computer Engineering, University of Macau, Taipa, Macau
2.Institute for Systems and Robotics, Universidade de Lisboa, Lisbon, Portugal
3.I3S UNSA-CNRS, University of Nice Sophia Antipolis, Nice, France
4.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Pedro Serra,Rita Cunha,Tarek Hamel,et al. Landing of a quadrotor on a moving target using dynamic image-based visual servo control[J]. IEEE Transactions on Robotics,2016,32(6):1524-1535.
APA Pedro Serra,Rita Cunha,Tarek Hamel,David Cabecinhas,&Carlos Silvestre.(2016).Landing of a quadrotor on a moving target using dynamic image-based visual servo control.IEEE Transactions on Robotics,32(6),1524-1535.
MLA Pedro Serra,et al."Landing of a quadrotor on a moving target using dynamic image-based visual servo control".IEEE Transactions on Robotics 32.6(2016):1524-1535.
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