A Nonlinear Adaptive Model-Predictive Approach for Visual Servoing of Unmanned Aerial Vehicles

Sajjadi, Sina; Mehrandezh, Mehran; Janabi–Sharifi, Farrokh

doi:10.1007/978-981-32-9632-9_19

Cited by 2 publications

(1 citation statement)

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“…Moreover, the fault detection, diagnosis, and tolerance procedures of the system can be performed more systematically. A two-tier nonlinear predictive visual servoing approach, with applications in vision-based control of UAVs, was presented in [17]. The results reported the simulated control of the UAV, while successfully handling physical and image constraints.…”

Section: Introductionmentioning

confidence: 99%

A Cascaded and Adaptive Visual Predictive Control Approach for Real-Time Dynamic Visual Servoing

Sajjadi

Mehrandezh

Janabi–Sharifi

2022

Drones

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In the past two decades, Unmanned Aerial Vehicles (UAVs) have gained attention in applications such as industrial inspection, search and rescue, mapping, and environment monitoring. However, the autonomous navigation capability of UAVs is aggravated in GPS-deprived areas such as indoors. As a result, vision-based control and guidance methods are sought. In this paper, a vision-based target-tracking problem is formulated in the form of a cascaded adaptive nonlinear Model Predictive Control (MPC) strategy. The proposed algorithm takes the kinematics/dynamics of the system, as well as physical and image constraints into consideration. An Extended Kalman Filter (EKF) is designed to estimate uncertain and/or time-varying parameters of the model. The control space is first divided into low and high levels, and then, they are parameterised via orthonormal basis network functions, which makes the optimisation- based control scheme computationally less expensive, therefore suitable for real-time implementation. A 2-DoF model helicopter, with a coupled nonlinear pitch/yaw dynamics, equipped with a front-looking monocular camera, was utilised for hypothesis testing and evaluation via experiments. Simulated and experimental results show that the proposed method allows the model helicopter to servo toward the target efficiently in real-time while taking kinematic and dynamic constraints into account. The simulation and experimental results are in good agreement and promising.

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Section: Introductionmentioning

confidence: 99%