TY - GEN
T1 - Autonomous Quadrotor with Dynamic Image-Based Visual Servo for Moving Target Tracking
AU - Wang, Fei
AU - Hu, Shengrong
AU - Zheng, Jiyuan
AU - Zhou, Kang
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2025.
PY - 2025
Y1 - 2025
N2 - Because of the mutual coupling of quadrotor dynamics and the sensitivity of the target image to the vehicle attitude, the issue of tracking free-motion targets in 3-dimensional space using visual servo remains challenging. For this issue, a visual servo controller based on optimized virtual image plane and image moment features is developed signed and validated. The controller enables effective tracking of arbitrarily moving targets in 3D space. The quadrotor model is decoupled by using a virtual image plane approach, which avoids image errors due to quadrotor rotation. Compared to other works using feature points, the controller uses image moment features to reduce the impact of the target’s rotation error on the velocity controller. In addition, the virtual image plane is applied to the yaw direction to construct the yaw controller, which ensures the stability of the overall visual servo system. Simulation experiments are carried out in MATLAB and Airsim to verify the effectiveness of the method.
AB - Because of the mutual coupling of quadrotor dynamics and the sensitivity of the target image to the vehicle attitude, the issue of tracking free-motion targets in 3-dimensional space using visual servo remains challenging. For this issue, a visual servo controller based on optimized virtual image plane and image moment features is developed signed and validated. The controller enables effective tracking of arbitrarily moving targets in 3D space. The quadrotor model is decoupled by using a virtual image plane approach, which avoids image errors due to quadrotor rotation. Compared to other works using feature points, the controller uses image moment features to reduce the impact of the target’s rotation error on the velocity controller. In addition, the virtual image plane is applied to the yaw direction to construct the yaw controller, which ensures the stability of the overall visual servo system. Simulation experiments are carried out in MATLAB and Airsim to verify the effectiveness of the method.
KW - Quadrotor
KW - image-based visual servo
KW - perception and autonomy
KW - virtual image plane
UR - https://www.scopus.com/pages/publications/105008056018
U2 - 10.1007/978-981-96-3552-8_10
DO - 10.1007/978-981-96-3552-8_10
M3 - Conference contribution
AN - SCOPUS:105008056018
SN - 9789819635511
T3 - Lecture Notes in Electrical Engineering
SP - 91
EP - 101
BT - Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems, 4th ICAUS 2024
A2 - Liu, Lianqing
A2 - Niu, Yifeng
A2 - Fu, Wenxing
A2 - Qu, Yi
PB - Springer Science and Business Media Deutschland GmbH
T2 - 4th International Conference on Autonomous Unmanned Systems, ICAUS 2024
Y2 - 19 September 2024 through 21 September 2024
ER -