Title :
Visual Servoing of an Airplane for Alignment with respect to a Runway
Author :
Bourquardez, Odile ; Chaumette, François
Author_Institution :
IRISA-CNRS, Rennes
Abstract :
In this paper, we propose a visual servoing scheme to align an airplane with respect to a runway. A linearized model of the airplane dynamics and decoupled visual features are designed to build the control scheme. Simulation results are obtained with a quite realistic flight simulator which is based on a non linear airplane dynamic model. They show that the airplane realizes correctly the specified task by using visual data.
Keywords :
aircraft control; control system synthesis; feature extraction; nonlinear dynamical systems; vehicle dynamics; visual servoing; airplane alignment; airplane dynamics; airplane visual servoing; linearized model; nonlinear airplane dynamic model; runway; visual feature decoupling; Aerospace control; Aerospace electronics; Aerospace simulation; Aircraft; Airplanes; Cameras; Equations; Helicopters; Robot vision systems; Visual servoing;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363169
