Terlizzi, Mario (Università del Sannio), Silano, Giuseppe (Czech Technical University in Prague), Russo, Luigi (Università del Sannio), Aatif, Muhammad (Università del Sannio), Basiri, Amin (Università del Sannio), Mariani, Valerio (Università del Sannio), Iannelli, Luigi (Università del Sannio), Glielmo, Luigi (Università del Sannio)

A Vision-Based Algorithm for a Path Following Problem

Scheduled for presentation during the Poster Session "Poster Papers Session" (FrPS), Friday, June 18, 2021, 09:30−09:45, Foyer, Mezzanine Level

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control solution. A path for a quad-rotor UAV is obtained by using the drone downward facing camera images to implement an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB® together with the MathWorks™ Virtual Reality toolbox demonstrate the validity and the effectiveness of the proposed algorithm. The code is released as open-source making it possible to go through any part of the system and replicating the obtained results.