A switching control law for keeping features in the field of view in eye-in-hand visual servoing

2004 ◽  
Author(s):  
G. Chesi ◽  
K. Hashimoto ◽  
D. Prattichizzo ◽  
A. Vicino
Keyword(s):  
Visual Servoing ◽  
Switching Control ◽  
Field Of View ◽  
Control Law

Dynamic Visual Servoing for a Quadrotor Using a Virtual Camera

2017 ◽  
Vol 05 (01) ◽  
pp. 1-17 ◽  
Author(s):  
Geoff Fink ◽  
Hui Xie ◽  
Alan F. Lynch ◽  
Martin Jagersand
Keyword(s):  
Visual Servoing ◽  
Closed Loop ◽  
Field Of View ◽  
Visual Features ◽  
Control Law ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Virtual Camera ◽  
Aerial Vehicle ◽  
Planar Target

This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a moving planar target located within the camera’s field of view. The control law is termed dynamic as it’s based on the dynamics of the vehicle. To simplify the kinematics and dynamics, the control law relies on the notion of a virtual camera and image moments as visual features. The convergence of the closed-loop is proven to be globally asymptotically stable for a horizontal target. In the case of nonhorizontal targets, we modify the control using a homography decomposition. Experimental and simulation results demonstrate the control law’s performance.

Nonlinear dynamic image-based visual servoing of a quadrotor

2015 ◽  
Vol 3 (1) ◽  
pp. 1-21 ◽  
Author(s):  
Geoff Fink ◽  
Hui Xie ◽  
Alan F. Lynch ◽  
Martin Jagersand
Keyword(s):  
Visual Servoing ◽  
Lateral Position ◽  
Control Law ◽  
Stationary Target ◽  
Dynamic Image ◽  
Change Of State ◽  
Dependent Change ◽  
Exponentially Stable ◽  
Aerial Vehicle ◽  
Error Dynamics

This paper proposes a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera facing downward. The motion control problem is to regulate the relative lateral position of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it is based on the dynamics and kinematics of the vehicle. The proposed design uses a nonlinear input-dependent change of state coordinates and its error dynamics are proven to be locally exponentially stable with an estimate provided for the region of attraction. Experimental and simulation results demonstrate the method's ease of on-board implementation, performance, and robustness. The simulation and experimental results include a comparison with an established dynamic IBVS method. This comparison shows the proposed method can provide similar performance with the benefit of reduced complexity.

scholarly journals Finite-Time Switching Control of Nonholonomic Mobile Robots for Moving Target Tracking Based on Polar Coordinates

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Hua Chen ◽  
Shen Xu ◽  
Lulu Chu ◽  
Fei Tong ◽  
Lei Chen
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Control Method ◽  
Tracking Error ◽  
Switching Control ◽  
Polar Coordinates ◽  
Control Law ◽  
Moving Target ◽  
Nonholonomic Mobile Robots ◽  
Time Switching

In this paper, finite-time tracking problem of nonholonomic mobile robots for a moving target is considered. First of all, polar coordinates are used to characterize the distance and azimuth between the moving target and the robot. Then, based on the distance and azimuth transported from the sensor installed on the robot, a finite-time tracking control law is designed for the nonholonomic mobile robot by the switching control method. Rigorous proof shows that the tracking error converges to zero in a finite time. Numerical simulation demonstrates the effectiveness of the proposed control method.

scholarly journals Augmenting ViSP’s 3D Model-Based Tracker with RGB-D SLAM for 3D Pose Estimation in Indoor Environments

2016 ◽  
Vol XLI-B1 ◽  
pp. 925-932
Author(s):  
J. Li-Chee-Ming ◽  
C. Armenakis
Keyword(s):  
Pose Estimation ◽  
Visual Servoing ◽  
3D Model ◽  
Field Of View ◽  
Indoor Environments ◽  
Camera Motion ◽  
3D Pose Estimation ◽  
Building Models ◽  
Outdoor Environments ◽  
Model Features

This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for pose estimation in indoor and GPS-denied outdoor environments. Our proposed solution integrates the trajectory solution from RGBD-SLAM into ViSP’s pose estimation process. Li-Chee-Ming and Armenakis (2015) explored the application of ViSP in mapping large outdoor environments, and tracking larger objects (i.e., building models). Their experiments revealed that tracking was often lost due to a lack of model features in the camera’s field of view, and also because of rapid camera motion. Further, the pose estimate was often biased due to incorrect feature matches. This work proposes a solution to improve ViSP’s pose estimation performance, aiming specifically to reduce the frequency of tracking losses and reduce the biases present in the pose estimate. This paper explores the integration of ViSP with RGB-D SLAM. We discuss the performance of the combined tracker in mapping indoor environments and tracking 3D wireframe indoor building models, and present preliminary results from our experiments.

Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints

2019 ◽  
Vol 35 (4) ◽  
pp. 1063-1070 ◽  
Author(s):  
Charalampos P. Bechlioulis ◽  
Shahab Heshmati-alamdari ◽  
George C. Karras ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Visual Servoing ◽  
Field Of View ◽  
Prescribed Performance ◽  
Robust Image

Chaotic attractors based on unstable dissipative systems via third-order differential equation

2016 ◽  
Vol 27 (01) ◽  
pp. 1650008 ◽  
Author(s):  
E. Campos-Cantón
Keyword(s):  
Differential Equation ◽  
Equilibrium Point ◽  
Order Differential Equation ◽  
Dissipative System ◽  
Switching Control ◽  
Dissipative Systems ◽  
Control Law ◽  
Third Order ◽  
Third Order Differential Equation ◽  
2D And 3D

In this paper, we present an approach how to yield 1D, 2D and 3D-grid multi-scroll chaotic systems in [Formula: see text] based on unstable dissipative systems via third-order differential equation. This class of systems is constructed by a switching control law(SCL) changing the equilibrium point of an unstable dissipative system. The switching control law that governs the position of the equilibrium point varies according to the number of scrolls displayed in the attractor.

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