Adaptive depth estimation in image based visual servo control of dynamic systems
| Data(s) |
2005
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| Resumo |
This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system. © 2005 IEEE. |
| Formato |
application/pdf |
| Identificador | |
| Publicador |
IEEE (Institute of Electrical and Electronics Engineers, Inc.) |
| Relação |
http://eprints.qut.edu.au/32717/1/corke.pdf DOI:10.1109/CDC.2005.1583016 Mahony, R., Von Brasch, A., Corke, Peter, & Hamel, T. (2005) Adaptive depth estimation in image based visual servo control of dynamic systems. In 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05, IEEE (Institute of Electrical and Electronics Engineers, Inc.), Seville, Spain, pp. 5372-5378. |
| Direitos |
Copyright 2005 IEEE Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. |
| Fonte |
Faculty of Built Environment and Engineering |
| Palavras-Chave | #090602 Control Systems Robotics and Automation #Non linear adaptive control #robotic vehicles #authomated aerial robots |
| Tipo |
Conference Paper |
