Dynamic Image-based visual servo control using centroid and optic flow features


Autoria(s): Mahony, Robert; Corke, Peter; Hamel, Tarek
Data(s)

01/01/2008

Resumo

This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an unnormalized spherical centroid and an optic flow measurement. The image-plane dynamics with respect to force input are dependent on the height of the camera above the target plane. This dependence is compensated by introducing virtual height dynamics and adaptive estimation in the proposed control. A fully nonlinear adaptive control design is provided that ensures asymptotic stability of the closed-loop system for all feasible initial conditions. The choice of control gains is based on an analysis of the asymptotic dynamics of the system. Results from a realistic simulation are presented that demonstrate the performance of the closed-loop system. To the author's knowledge, this paper documents the first time that an image-based visual servo control has been proposed for a dynamic system using vision measurement for both position and velocity.

Identificador

http://eprints.qut.edu.au/33801/

Publicador

ASME - American Society Mechanical Engineering

Relação

DOI:10.1115/1.2807085

Mahony, Robert, Corke, Peter, & Hamel, Tarek (2008) Dynamic Image-based visual servo control using centroid and optic flow features. Journal of Dynamic Systems, Measurement, and Control, 130(1), 011005-1.

Direitos

Copyright 2008 ASME

Fonte

Faculty of Built Environment and Engineering; School of Engineering Systems

Palavras-Chave #090600 ELECTRICAL AND ELECTRONIC ENGINEERING #adaptive control #servomechanisms #robot vision #robot kinematics #robot dynamics #aerospace robotics #asymptotic stability #closed loop systems #control system synthesis #image sequences #aerospace control #nonlinear dynamical systems
Tipo

Journal Article