Authors:
W. Achicanoy
1
;
C. Sagüés
2
;
G. López-Nicolás
2
and
C. Rodríguez
1
Affiliations:
1
Universidad de los Andes, Colombia
;
2
Universidad de Zaragoza, Spain
Keyword(s):
UAV Guidance, Epipolar Geometry, Nonlinear Engagement, Input-output Linearization, State Feedback.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Vehicle Control Applications
;
Vision, Recognition and Reconstruction
Abstract:
A visual control based on epipolar geometry is proposed to guide an autonomous unmanned aerial vehicle (UAV) to a target position. The interest of this contribution resides in a new controller that allows purely vision-based guidance reducing the dependence on the accuracy of the system’s state estimation using sensors as InertialMeasurement Units (IMU) and Global Positioning Systems (GPS). A current view and a target view are defined by a camera on-board the vehicle and a camera located at the target’s position, respectively. The epipolar coordinates from these views are used to design a nonlinear control based on input-output linearization of the nonlinear engagement rule that relates the cameras’ positions in time. An integrator is included to force the outputs (epipolar coordinates) to follow an equilibrium point and a state feedback control law is proposed to stabilize the outcome of the linearized input-output mapping. Simulation experiments for guidance of an small autonomous
UAV with a classical three-loop autopilot are presented.
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