TY - GEN
T1 - Target Tracking with Multi-rotor Aerial Vehicles based on a Robust Visual Servo Controller with Prescribed Performance
AU - Karras, George C.
AU - Bechlioulis, C. P.
AU - Fourlas, George K.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9
Y1 - 2020/9
N2 - In this paper, we present an image-based visual servo control scheme for tracking a moving target using a multirotor aerial vehicle. The proposed scheme is based on the prescribed performance control notion and it is able to impose appropriately selected performance specifications on the image feature errors to satisfy visibility constraints arising from the camera limited field of view, while exhibiting robustness against calibration and depth estimation errors. The proposed controller is of low complexity and computational cost and thus can be easily implemented on the embedded control unit of an autonomous aerial vehicle. The resulting scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are verified via a realistic simulation scenario, where a quadrotor successfully tracks a visual target located on top of a moving mobile robot.
AB - In this paper, we present an image-based visual servo control scheme for tracking a moving target using a multirotor aerial vehicle. The proposed scheme is based on the prescribed performance control notion and it is able to impose appropriately selected performance specifications on the image feature errors to satisfy visibility constraints arising from the camera limited field of view, while exhibiting robustness against calibration and depth estimation errors. The proposed controller is of low complexity and computational cost and thus can be easily implemented on the embedded control unit of an autonomous aerial vehicle. The resulting scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are verified via a realistic simulation scenario, where a quadrotor successfully tracks a visual target located on top of a moving mobile robot.
UR - http://www.scopus.com/inward/record.url?scp=85094950702&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS48674.2020.9213893
DO - 10.1109/ICUAS48674.2020.9213893
M3 - Conference contribution
AN - SCOPUS:85094950702
T3 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
SP - 480
EP - 487
BT - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
Y2 - 1 September 2020 through 4 September 2020
ER -