%0 Conference Proceedings
%F Bourquardez08b
%A Bourquardez, O.
%A Guenard, N.
%A Hamel, T.
%A Chaumette, F.
%A Mahony, R.
%A Eck, L.
%T Kinematic visual servo controls of an X4-flyer: practical study
%B Mediterranean Conf. on Intelligent Systems and Automation, CISA'08
%C Annaba, Algeria
%X Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow to decouple the position control scheme from the rotation dynamics. This property is suitable to control an under-actuated aerial vehicle such as a quadrotor. In this paper a range of kinematic control laws using spherical image moments and perspective image moments arehttp://rainbow-doc.irisa.fr/publi/ experimented on a quadrotor aerial vehicle prototype. The task considered is to reach a desired position with respect to a specified target. Three control schemes show excellent performances in practice whereas each one has different theoretical properties
%U http://rainbow-doc.irisa.fr/pdf/2008_cisa_bourquardez.pdf
%8 June
%D 2008