Visual servo control using homography estimation for the stabilization of an X4-flyer

Suter, David; Hamel, Tarek; Mahony, Robert

Visual servo control using homography estimation for the stabilization of an X4-flyer

Date

2002

Authors

Suter, David

Hamel, Tarek

Mahony, Robert

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

In this paper we study image based visual servo (IBVS) control of a four rotor vertical take-off and landing (VTOL) craft known as an X4-flyer. The approach taken is tailored to planar visual targets and is based on a reformulation and extension of 2 1/2

Keywords

Keywords: Algorithms; Closed loop control systems; Dynamics; Imaging systems; Servomechanisms; System stability; Unmanned vehicles; Homography estimation; Image based visual servo control; Recursive control algorithms; Unmanned aerial vehicle; Visual servo control; Homography estimation; Recursive control algorithms; Unmanned aerial vehicle; Visual servo control

URI

http://hdl.handle.net/1885/75301

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ANU Research Publications

Source

Proceedings of the 41st IEEE Conference on Decision and Control

Type

Conference paper

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Visual servo control using homography estimation for the stabilization of an X4-flyer

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