Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer

doi:10.1109/TSMC.2017.2720173

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 水下机器人

	Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer
	Cao, Zhiqiang 2,3; Chen, Xuchao 2,3; Yu, Yingying 2,3; Yu, Junzhi 2,3; Liu, Xilong 1; Zhou, Chao 2,3; Tan, Min 2,3
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2020
卷号	50 期号:1 页码:376-384
关键词	Target tracking Trajectory Visual servoing Transmission line matrix methods Cameras Visualization Vehicle dynamics Hovering and tracking image moment quadrotor trajectory observer visual servoing
ISSN号	2168-2216
DOI	10.1109/TSMC.2017.2720173
通讯作者	Chen, Xuchao(chenxuchao2013@ia.ac.cn)
英文摘要	In this correspondence paper, an image dynamics-based visual servoing for quadrotors is proposed to realize stable hovering and tracking. Four perspective image moments are adopted as visual features to control all the independent degrees of freedom of a quadrotor. The complicated interaction matrix is simplified by projecting original image to virtual image plane. On this basis, the dynamics of the system is determined by considering the dynamics of image features and the quadrotor simultaneously. Backstepping controllers are then designed to stabilize the visual servoing system of the quadrotor. In reality, it is unrealistic to have exact prior knowledge about the trajectory parameters of an unpredictable moving target. To solve this problem, a trajectory observer based on nonlinear tracking-differentiator to estimate trajectory parameters of the target is firstly integrated into the quadrotor with image dynamics, which guarantees a satisfactory performance. The effectiveness of the proposed approach is verified by simulations.
资助项目	National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633017] ; National Natural Science Foundation of China[61503376] ; National High Technology Research and Development Program of China (863 Program)[2015AA042201] ; Beijing National Science Foundation[4161002]
WOS关键词	MOMENTS ; FLIGHT ; UAVS
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000506638700033
资助机构	National Natural Science Foundation of China ; National High Technology Research and Development Program of China (863 Program) ; Beijing National Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/29551]
专题	复杂系统管理与控制国家重点实验室_水下机器人
通讯作者	Chen, Xuchao
作者单位	1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
推荐引用方式 GB/T 7714	Cao, Zhiqiang,Chen, Xuchao,Yu, Yingying,et al. Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2020,50(1):376-384.
APA	Cao, Zhiqiang.,Chen, Xuchao.,Yu, Yingying.,Yu, Junzhi.,Liu, Xilong.,...&Tan, Min.(2020).Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,50(1),376-384.
MLA	Cao, Zhiqiang,et al."Image Dynamics-Based Visual Servoing for Quadrotors Tracking a Target With a Nonlinear Trajectory Observer".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 50.1(2020):376-384.