Vision Based Output Feedback Control of Micro Aerial Vehicles in Indoor Environments

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6 Scopus citations

Abstract

We present a new image based visual servoing (IBVS) approach for control of micro aerial vehicles (MAVs) in indoor environments. Specifically, we show how a MAV can be stabilized and guided using only corridor lines viewed on a front facing camera and angular velocity measurements. Since the suggested controller does not include explicit attitude feedback it does not require the use of accelerometers which are susceptible to vibrations, nor complex attitude estimation algorithms. The controller also does not require direct velocity measurements which are difficult to obtain in indoor environments. The paper presents the new method, stability analysis, simulations and experiments.

Original languageEnglish
Pages (from-to)169-186
Number of pages18
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume87
Issue number1
DOIs
StatePublished - 1 Jul 2017

Keywords

  • Corridor flight
  • Indoor flight
  • MAV
  • Visual servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence

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