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Dynamic IBVS of a rotary wing UAV using line features

Published online by Cambridge University Press:  09 December 2014

Hui Xie,
Alan F. Lynch and
Martin Jagersand
Hui Xie
Affiliation:
Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada T6G 2V4
Alan F. Lynch*
Affiliation:
Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, Canada T6G 2V4
Martin Jagersand
Affiliation:
Department of Computing Science, University of Alberta, Edmonton, Alberta, T6G 2E8
*
*Corresponding author. Email: alan.lynch@ualberta.ca
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Summary

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In this paper we propose a dynamic image-based visual servoing (IBVS) control for a rotary wing unmanned aerial vehicle (UAV) which directly accounts for the vehicle's underactuated dynamic model. The motion control objective is to follow parallel lines and is motivated by power line inspection tasks where the UAV's relative position and orientation to the lines are controlled. The design is based on a virtual camera whose motion follows the onboard physical camera but which is constrained to point downwards independent of the vehicle's roll and pitch angles. A set of image features is proposed for the lines projected into the virtual camera frame. These features are chosen to simplify the interaction matrix which in turn leads to a simpler IBVS control design which is globally asymptotically stable. The proposed scheme is adaptive and therefore does not require depth estimation. Simulation results are presented to illustrate the performance of the proposed control and its robustness to calibration parameter error.

Keywords

Unmanned Aerial Vehicle (UAV)Image-based visual servoingVirtual cameraAdaptive nonlinear control

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 9 , September 2016, pp. 2009 - 2026
Copyright
Copyright © Cambridge University Press 2014 

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