Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/90647
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Aeronautical and Aviation Engineering | en_US |
dc.creator | Li, J | en_US |
dc.creator | Xie, H | en_US |
dc.creator | Low, KH | en_US |
dc.creator | Yong, J | en_US |
dc.creator | Li, B | en_US |
dc.date.accessioned | 2021-08-13T06:13:31Z | - |
dc.date.available | 2021-08-13T06:13:31Z | - |
dc.identifier.uri | http://hdl.handle.net/10397/90647 | - |
dc.language.iso | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | (c) 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information | en_US |
dc.rights | The following publication J. Li, H. Xie, K. H. Low, J. Yong and B. Li, "Image-based Visual Servoing of Rotorcrafts to Planar Visual Targets of Arbitrary Orientation," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3101878. is available at https://dx.doi.org/10.1109/LRA.2021.3101878 | en_US |
dc.subject | Visual Servoing | en_US |
dc.subject | Aerial Systems: Mechanics and Control | en_US |
dc.subject | Image Moment | en_US |
dc.subject | Nonlinear Backstepping Control | en_US |
dc.title | Image-based visual servoing of rotorcrafts to planar visual targets of arbitrary orientation | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.doi | 10.1109/LRA.2021.3101878 | en_US |
dcterms.abstract | This paper for the first time extends the virtual camera image-based visual servoing (IBVS) scheme to enable an underactuated rotorcraft UAV to regulate its translational motion and heading relative to a planar visual target of arbitrary orientation. The conversion from real camera images to virtual camera images of visual targets are proposed based on a set of rotation matrices. Hence, image moment features can be reused due to the simplicity and decoupled structure of the interaction matrix, and satisfactory 3D Cartesian trajectory of UAVs. In the design of the IBVS control law, the external disturbance and model uncertainties are estimated by an integral-based filter. In addition, to enable tracking of a moving visual target, a velocity estimator is developed. The global asymptotic stability of the error dynamics is proven. Both of the simulation and experimental results of tracking of a tilted moving planar target have been provided to show the efficacy of the proposed IBVS scheme. | en_US |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | IEEE robotics and automation letters, Jul. 2021 | en_US |
dcterms.isPartOf | IEEE robotics and automation letters | en_US |
dcterms.issued | 2021-07 | - |
dc.identifier.eissn | 2377-3766 | en_US |
dc.description.validate | 202108 bchy | en_US |
dc.description.oa | Accepted Manuscript | en_US |
dc.identifier.FolderNumber | a0999-n01 | - |
dc.identifier.SubFormID | 2400 | - |
dc.description.fundingSource | Self-funded | en_US |
dc.description.pubStatus | Published | en_US |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
2400_21-0193_03_MS.pdf | Pre-Published version | 1.83 MB | Adobe PDF | View/Open |
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