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Adaptive depth estimation in image based visual servo control of dynamic systems

By R. Mahony, A. Von Brasch, Peter Corke and T. Hamel

Abstract

This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system. © 2005 IEEE

Topics: 090602 Control Systems Robotics and Automation, Non linear adaptive control, robotic vehicles, authomated aerial robots
Publisher: IEEE (Institute of Electrical and Electronics Engineers, Inc.)
Year: 2005
DOI identifier: 10.1109/CDC.2005.1583016
OAI identifier: oai:eprints.qut.edu.au:32717

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