Ozawa11a
R. Ozawa, F. Chaumette. Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, Pages 5670-5676, Shanghai, China, May 2011.
Download [help]
Download paper:
Doi page 
Download Hal paper:
Download paper:
Adobe portable document (pdf) 
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow
Abstract
This paper presents an image-based visual servo- ing for controlling the position and orientation of a quadrotor using a fixed downward camera observing landmarks on the level ground. In the proposed method, the negative feedback to the image moments is used to control the vertical motion and rotation around the roll axis. On the other hand, the negative feedback cannot be used to control the horizontal motion due to under-actuation of a quadrotor. Thus, a novel control method is introduced to control the horizontal motion. Simulations are presented to validate the proposed method
Contact
BibTex Reference
@InProceedings{Ozawa11a,
Author = {Ozawa, R. and Chaumette, F.},
Title = {Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'11},
Pages = {5670--5676},
Address = {Shanghai, China},
Month = {May},
Year = {2011}
}
EndNote Reference [help]
Get EndNote Reference (.ref)