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Visual Controllers for Relative Positioning in Indoor Settings
Citation
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 |
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| Author/s: |
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| 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 |
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 |
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| 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 |
