Vision Based Control for Fixed Wing UAVs Inspecting Locally Linear Infrastructure Using Skid-to-Turn Maneuvers

作     者：Mills, Steven J. Ford, Jason J. Mejias, Luis 

作者机构：Queensland Univ Technol ARCAA Brisbane Qld 4001 Australia 

出 版 物：《JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS》 (智能和机器人系统杂志)

年 卷 期：2011年第61卷第1-4期

页      面：29-42页

核心收录：

学科分类：08[工学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Australian Government 

主　　题：Skid-to-Turn Image based visual servoing Guidance and control Fixed wing UAVs 

摘      要：The following paper proposes a novel application of Skid-to-Turn maneuvers for fixed wing Unmanned Aerial Vehicles (UAVs) inspecting locally linear infrastructure. Fixed wing UAVs, following the design of manned aircraft, commonly employ Bank-to-Turn maneuvers to change heading and thus direction of travel. Whilst effective, banking an aircraft during the inspection of ground based features hinders data collection, with body fixed sensors angled away from the direction of turn and a panning motion induced through roll rate that can reduce data quality. By adopting Skid-to-Turn maneuvers, the aircraft can change heading whilst maintaining wings level flight, thus allowing body fixed sensors to maintain a downward facing orientation. An Image-Based Visual Servo controller is developed to directly control the position of features as captured by onboard inspection sensors. This improves on the indirect approach taken by other tracking controllers where a course over ground directly above the feature is assumed to capture it centered in the field of view. Performance of the proposed controller is compared against that of a Bank-to-Turn tracking controller driven by GPS derived cross track error in a simulation environment developed to replicate the field of view of a body fixed camera.