Nonlinear Visual Servoing Control for VTOL UAVs with Field of View Constraint

Plinval, Henry de; Burlion, Laurent

doi:10.1007/978-3-319-17518-8_31

Cited by 3 publications

(1 citation statement)

References 24 publications

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“…In this paper, we propose a novel UAV obstacle avoidance technique which uses the OIST methodology. OIST means Output to Input Saturation Transformation ; it was first detailed in [9] and further applied to visual servoing [10], [11] or load control alleviation of a civil aircraft [12]. Its core idea is to reformulate expected bounds on a regulated variable into saturations on the control input.…”

Section: Introductionmentioning

confidence: 99%

UAV obstacle avoidance scheme using an output to input saturation transformation technique

Chauffaut

Defaÿ

Burlion

et al. 2016

2016 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior. A low-cost RGB-D sensor has been used to detect obstacles as its output measurements of the environment are effortlessly interpreted even with a low power embedded processor. Experimental results are provided, together with a simulation, to prove the efficiency of the approach.

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Section: Introductionmentioning

confidence: 99%

UAV obstacle avoidance scheme using an output to input saturation transformation technique

Chauffaut

Defaÿ

Burlion

et al. 2016

2016 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

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Input Saturated Visual Servoing for Unmanned Aerial Vehicles

Xie

Lynch

2017

IEEE/ASME Trans. Mechatron.

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Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles

Xie

Veitch

2018

At - Automatisierungstechnik

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This paper presents a disturbance observer based input saturated visual servoing law for a quadrotor unmanned aerial vehicle (UAV). The controller regulates the 4D relative pose, i. e., 3D translational and yaw motion, between the vehicle and a planar horizontal visual target in an environment with external disturbances. A feedforward control is used to compensate the lumped disturbance consisting of both system uncertainties and external disturbances. The feedback control part is based on a nested saturation control, which is used to bound the orientation of the UAV and therefore helps to keep the visual target in the camera’s field of view. Simulation results are provided to demonstrate controller performance.

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Nonlinear Visual Servoing Control for VTOL UAVs with Field of View Constraint

Cited by 3 publications

References 24 publications

UAV obstacle avoidance scheme using an output to input saturation transformation technique

UAV obstacle avoidance scheme using an output to input saturation transformation technique

Input Saturated Visual Servoing for Unmanned Aerial Vehicles

Disturbance observer-based visual servoing for multirotor unmanned aerial vehicles

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