ICUAS 2020 Paper Abstract

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Paper WeC4.2

Karras, George (University of Thessaly), Bechlioulis, Charalampos (National Technical University of Athens), Fourlas, George K. (University of Thessaly), Kyriakopoulos, Kostas J. (National Tech. Univ. of Athens)

Target Tracking with Multi-Rotor Aerial Vehicles Based on a Robust Visual Servo Controller with Prescribed Performance

Scheduled for presentation during the Regular Session "Control Architectures III" (WeC4), Wednesday, September 2, 2020, 17:20−17:40, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, UAS Applications

Abstract

In this paper, we present an image-based visual servo control scheme for tracking a moving target using a multirotor aerial vehicle. The proposed scheme is based on the prescribed performance control notion and it is able to impose appropriately selected performance specifications on the image feature errors to satisfy visibility constraints arising from the camera limited field of view, while exhibiting robustness against calibration and depth estimation errors. The proposed controller is of low complexity and computational cost and thus can be easily implemented on the embedded control unit of an autonomous aerial vehicle. The resulting scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are verified via a realistic simulation scenario, where a quadrotor successfully tracks a visual target located on top of a moving mobile robot.

 

 

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