Dynamic Visual Servoing of a Rotary-wing Unmanned Aerial Vehicle Without Velocity Measurement

Author(s):  
Hui Xie ◽  
Kin Huat Low
2021 ◽  
pp. 106891
Author(s):  
Chengbin Chen ◽  
Sifan Chen ◽  
Guangsheng Hu ◽  
Baihe Chen ◽  
Pingping Chen ◽  
...  

Robotica ◽  
2014 ◽  
Vol 34 (9) ◽  
pp. 2009-2026 ◽  
Author(s):  
Hui Xie ◽  
Alan F. Lynch ◽  
Martin Jagersand

SUMMARYIn this paper we propose a dynamic image-based visual servoing (IBVS) control for a rotary wing unmanned aerial vehicle (UAV) which directly accounts for the vehicle's underactuated dynamic model. The motion control objective is to follow parallel lines and is motivated by power line inspection tasks where the UAV's relative position and orientation to the lines are controlled. The design is based on a virtual camera whose motion follows the onboard physical camera but which is constrained to point downwards independent of the vehicle's roll and pitch angles. A set of image features is proposed for the lines projected into the virtual camera frame. These features are chosen to simplify the interaction matrix which in turn leads to a simpler IBVS control design which is globally asymptotically stable. The proposed scheme is adaptive and therefore does not require depth estimation. Simulation results are presented to illustrate the performance of the proposed control and its robustness to calibration parameter error.


2019 ◽  
Vol 1 (2) ◽  
pp. 1-14
Author(s):  
Abdur Rohman Harits Martawireja ◽  
Hadi Supriyanto

UNMANNED AERIAL VEHICLE (UAV) merupakan sebuah kendaraan udara tanpa awak yang dapat dikendalikan. Terdapat dua tipe UAV, yakni fixed wing dan rotary wing. Quadcopter menjadi salah satu tipe UAV rotary wing yang banyak digunakan dalam berbagai kebutuhan, seperti eksplorasi dan pengambilan citra. Pada penelitian ini Quadcopter berfungsi sebagai kendaraan yang harus bergerak mengikuti lintasan, dimana lintasan yang dikuti oleh Quadcopter berasal dari GPS yang dihasilkan oleh objek yang diikuti (Modul Utama). Tipe GPS yang terpasang pada Quadcopter (GPS1) maupun pada Modul Utama (GPS2) adalah  GPS Ublox NEO. Prinsip kerja sistem adalah quadcopter mengikuti Koordinat-koordinat lintasan yang dihasilkan oleh GPS1, di mana data-data lintasan GPS1 dikirim ke Quadcopter menggunakan media Bluetooth.  Dalam pergerakannya, Quadcopter akan terus-menerus membandingkan data-data koordinat yang dihasikan posisi Quadcopter dengan data-data koordinat lintasan yang sudah diterima. Pengujian pada Receiver GPS Modul Utama (GPS1) dan Receiver GPS Quadcoter (GPS2), kedua GPS mampu mendapatkan data GPS dari satelit.  Kesalahan/perbedaan data dari GPS1 dan GPS2  pada pengujian pergerakkan Quadcopter  untuk mengikuti  Modul Utama sebagai titik tujuan sebesar 53% pada garis lintang dan 51% pada garis bujur.


Author(s):  
Noah R. Kuntz ◽  
Paul Y. Oh

This paper presents the design and implementation of systems for autonomous tracking, payload pickup, and deployment of a 1/10th scale RC vehicle via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a three degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to control the camera pan tilt unit as well as a second pan tilt unit with a hook mounted on the end of the arm. The ability of the pickup system to hook a target is tested by mounting it on the gantry while recorded helicopter velocities are played back by the gantry. A preliminary semi-autonomous deployment system is field tested, where a manually controlled RC car is transported by a UAV helicopter under computer control that is manually directed to GPS waypoints using a ground station.


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