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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


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:

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