Visual Controllers for Relative Positioning in Indoor Settings

Mejias Alvarez, Luis and Campoy Cervera, Pascual (2019). Visual Controllers for Relative Positioning in Indoor Settings. In: "ICUAS'19 The 2019 International Conference on Unmanned Aircraft Systems", 11-14 Jun 2019, Atlanta, USA. ISBN 978-1-7281-0332-7. pp. 1194-1200. https://doi.org/10.1109/ICUAS.2019.8797954.

Description

Title: Visual Controllers for Relative Positioning in Indoor Settings
Author/s:
  • Mejias Alvarez, Luis
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: ICUAS'19 The 2019 International Conference on Unmanned Aircraft Systems
Event Dates: 11-14 Jun 2019
Event Location: Atlanta, USA
Title of Book: 2019 International Conference on Unmanned Aircraft Systems (ICUAS)
Date: 2019
ISBN: 978-1-7281-0332-7
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents an approach to visually control a quadrotor relative to known landmarks. Relative positioning is achieved here by a new decoupled approach to image based visual servoing (IBVS), in which rotational and translational coupling is minimised by introducing a decay function that is proportional to feature location in the image. Simulations and experiments were conducted to validate the proposed method. Results show that our method has benefits over standard decoupled IBVS by ensuring smoother trajectories in the image plane as well as in task space, minimising the risk of features leaving the image plane.

More information

Item ID: 64654
DC Identifier: http://oa.upm.es/64654/
OAI Identifier: oai:oa.upm.es:64654
DOI: 10.1109/ICUAS.2019.8797954
Official URL: http://uasconferences.com/2019_icuas/index.php
Deposited by: Memoria Investigacion
Deposited on: 30 Oct 2020 14:37
Last Modified: 30 Oct 2020 14:37
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