DocumentCode
702108
Title
Visual servoing with orientation limits of a X4-flyer
Author
Metni, Najib ; Hamel, Tarek ; Fantoni, Isabelle
Author_Institution
Laboratoire Central des Ponts et Chaussées, LCPC-Paris France
fYear
2003
fDate
1-4 Sept. 2003
Firstpage
1804
Lastpage
1809
Abstract
In this paper, we study the dynamics and the control using visual features of a four rotor vertical take-off and landing (VTOL) vehicle known as the X4-flyer while stabilizing with quasi-stationary flight above a planar target. A new control strategy is presented using the homography matrix, it is based on saturation functions for bounding the orientation of the UAV (unmanned air vehicle) in order to keep the target in the camera´s field of view.
Keywords
Attitude control; Cameras; Transmission line matrix methods; Vehicle dynamics; Vehicles; Visual servoing; Visualization; Homography estimation; Nonlinear control; Unmanned Aerial Vehicle; Visual Servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
European Control Conference (ECC), 2003
Conference_Location
Cambridge, UK
Print_ISBN
978-3-9524173-7-9
Type
conf
Filename
7085227
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