Visual servo control for the hovering of all outdoor robotic airship

Azinheira, José Raul; Rives, Patrick; Carvalho, José Oscar Fontanini de; Silveira, Geraldo; Paiva, Ely C. de; Bueno, Sônia Maria Alves

doi:10.1109/robot.2002.1013654

Cited by 54 publications

(33 citation statements)

References 11 publications

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“…Vertical take-off and landing (VTOL) UAVs have the greatest potential for urban applications since their natural flight characteristics are well suited to maneuvring in confined and cluttered aerial environments. Examples of VTOL UAVs are autonomous helicopters (Chriett et al 2001;Frazzoli et al 2002;Amidi et al 1999;Ma et al 1999), quad-rotor vehicles (Guenard et al 2006;Altug et al 2002), dirigibles (Azinheira et al 2002) and ducted fans flying robots (Lipera et al 2001;Pfimlin et al 2004). The development of such robotic vehicles raises a number of unique problems in sensing and control.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments

Mahony

Bras²,

Hamel

et al. 2008

Int. J. of Optomechatronics

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This article considers the question of dynamic image-based visual servo control for a vertical take-off and landing unmanned aerial vehicle. The visual targets considered are colored blobs on a flat surface to which the normal direction is known. A fully nonlinear adaptive control design coupled with an asymptotic filter is provided that ensures the stability of the closed-loop system in a large domain. The image features used are a modified first order spherical moment for position regulation and optic flow for velocity damping.

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Section: Introductionmentioning

confidence: 99%

Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments

Mahony

Bras²,

Hamel

et al. 2008

Int. J. of Optomechatronics

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“…For a specific control application, PID control can combine with other advanced technology to realize airship autonomous control. Jose R. Azinheira [2] presented a PD control problems of automatic hovering of an outdoor autonomous airship using imagebased visual servoing. The hovering controller was designed using a full dynamic model of the airship, in a PD error feedback scheme, taking the visual signals extracted from an on-board camera as output.…”

Section: A Traditional Control Methodsmentioning

confidence: 99%

“…Based on this airship dynamic model research, Jose R. Azinheira has done a specific research on hovering control of the airship. He used the visual servo control [2] and backstepping control technology [9] to realize the hovering tasks in the outdoor environment.…”

Section: A Motion Controlmentioning

confidence: 99%

Control of autonomous airship

Liu

Pan

Stirling

et al. 2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Scientific research and development on the control of autonomous airship have shown a significant growth in recent years. New applications appear in the areas such as freight carrier, advertising, monitoring, surveillance, transportation, military and scientific research. The control of Autonomous airship is a very important problem for the aerial robots research. In this paper, the previous research on the control of autonomous blimp is reviewed, Several popular control methods are categorized and discussed in detail. Then an intelligent navigation control method, reinforcement learning control, is introduced in the autonomous blimp which was used for 2007 UAV Outback Challenge. The future work on intelligent airship control is also outlined.

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“…Visual servo control techniques have also been applied recently to a large variety of reduced scales aerial vehicles, such as quadrotors [4,5], helicopters [6,7,8,9], airships [10,11] and airplanes [12,13]. In this paper we consider visual servo control of a quadrotor aerial vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…The estimated pose can be used directly in the control law [4], or as part of a scheme fusing visual data and inertial measurements [9]. In this paper, we do not deal with pose estimation, but consider image-based visual servo (IBVS), similar to the approach considered in [10,15,11].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Visual Servo Controls of an X4-Flyer: Practical Study

Bourquardez¹,

Guénard

Hamel

et al. 2008

AIP Conference Proceedings

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Abstract:Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow to decouple the position control scheme from the rotation dynamics. This property is suitable to control an under-actuated aerial vehicle such as a quadrotor. In this paper a range of kinematic control laws using spherical image moments and perspective image moments are experimented on a quadrotor aerial vehicle prototype. The task considered is to reach a desired position with respect to a specified target. Three control schemes show excellent performances in practice whereas each one has different theoretical properties.

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Visual servo control for the hovering of all outdoor robotic airship

Cited by 54 publications

References 11 publications

Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments

Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments

Control of autonomous airship

Kinematic Visual Servo Controls of an X4-Flyer: Practical Study

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