Visual predictive control of spiral motion


Autoria(s): Mcfadyen, Aaron; Corke, Peter; Mejias, Luis
Data(s)

2014

Resumo

This paper deals with constrained image-based visual servoing of circular and conical spiral motion about an unknown object approximating a single image point feature. Effective visual control of such trajectories has many applications for small unmanned aerial vehicles, including surveillance and inspection, forced landing (homing), and collision avoidance. A spherical camera model is used to derive a novel visual-predictive controller (VPC) using stability-based design methods for general nonlinear model-predictive control. In particular, a quasi-infinite horizon visual-predictive control scheme is derived. A terminal region, which is used as a constraint in the controller structure, can be used to guide appropriate reference image features for spiral tracking with respect to nominal stability and feasibility. Robustness properties are also discussed with respect to parameter uncertainty and additive noise. A comparison with competing visual-predictive control schemes is made, and some experimental results using a small quad rotor platform are given.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/78794/

Publicador

IEEE

Relação

http://eprints.qut.edu.au/78794/8/78794.pdf

DOI:10.1109/TRO.2014.2361425

Mcfadyen, Aaron, Corke, Peter, & Mejias, Luis (2014) Visual predictive control of spiral motion. IEEE Transactions on Robotics, 30(6), pp. 1441-1454.

Direitos

Copyright 2014 IEEE

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Fonte

Australian Research Centre for Aerospace Automation; ARC Centre of Excellence for Robotic Vision; School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #080100 ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING #090600 ELECTRICAL AND ELECTRONIC ENGINEERING #Nonlinear model-predictive control (NMPC) spirals #Stability #Visual servoing
Tipo

Journal Article