This work addresses the issue of the lateral control of an outdoor robotic airship while following a predefined path using visual servoing techniques. The vision-based control application is based on an interaction ma...
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This work addresses the issue of the lateral control of an outdoor robotic airship while following a predefined path using visual servoing techniques. The vision-based control application is based on an interaction matrix related to line features extracted from an on-board camera as feedback signals. An output LQR controller for the visual servo control is designed using the lateral dynamic model of the airship. The proposed approach is validated using a realistic simulator of the AS-800 unmanned airship.
The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform ro...
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The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the nonholonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an interaction matrix. Simulation results validating the strategy are shown.
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