Title :
Keeping a ground point in the camera field of view of a landing UAV
Author :
Burlion, Laurent ; de Plinval, Henry
Author_Institution :
ONERA, French Aerosp. Lab., Toulouse, France
Abstract :
This paper proposes a key feature for vision based automatic landing of a UAV: the addition to a given control law of the constraint that a given ground point be maintained in the camera field of view (FoV). This feature is an application case of an output constraint method recently developed and available for any nonlinear system. This method is based on an observation made for relative degree one systems, and extended iteratively to any nonlinear system. The landing aircraft application case considered in this article consists of the design of a control law for an aircraft to maintain a given ground point in the camera field of view for visual servoing purpose. Simulation results confirm the effectiveness of the approach.
Keywords :
aircraft control; autonomous aerial vehicles; control system synthesis; nonlinear control systems; robot vision; visual servoing; camera FoV; camera field of view; control law design; ground point; landing aircraft application; nonlinear system; observation made; output constraint method; relative degree one systems; vision based automatic UAV landing; visual servoing; Aerospace control; Aircraft; Aircraft propulsion; Cameras; Nonlinear systems; Trajectory; Vectors;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6631405
