The design on the visual servo system for landing aerial robotic

Author

Zhonghai, Li ; Nannan, Li ; Jianguo, Cui

Author_Institution

Shenyang Inst. of Aeronaut. Eng., Shenyang

fYear

2008

fDate

2-4 July 2008

Firstpage

3277

Lastpage

3280

Abstract

The aerial robotic visual servo system is in fact a feedback control system by visual information. When aerial robotic autonomous landing and tracking target, the servo system obtains control parameters on the basis of the target feature extraction and then sent out corresponding instructions. According to the problem of the identification of landing point, this article comprehensive uses the methods of image compound filter, SUSAN corner detection and gray-scale image template matching identification to realize extraction the visual information fast and accurate.

Keywords

aerospace robotics; edge detection; feature extraction; feedback; filtering theory; image matching; mobile robots; robot vision; target tracking; visual servoing; SUSAN corner detection; autonomous landing aerial robot; feature extraction; feedback control system; gray-scale image template matching identification; image compound filter; target tracking; visual servo system design; Control systems; Feature extraction; Feedback control; Gray-scale; Information filtering; Information filters; Matched filters; Robots; Servomechanisms; Target tracking; SUSAN corner detection; compound filter; template matching recognition; visual servo;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4597935

Filename

4597935