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Image and Signal Sensors for Computing and Machine Vision: Developments to Meet Future Needs Read chapter Read first chapter

2020 | OriginalPaper | Chapter

18. Visual Servo Controllers for an UAV Tracking Vegetal Paths

Authors : Jorge A. Sarapura, Flavio Roberti, Juan Marcos Toibero, José María Sebastián, Ricardo Carelli

Published in: Machine Vision and Navigation

Publisher: Springer International Publishing

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Abstract

In the inspection and data collection of large areas as crop fields, where an aerial vehicle should follow an objects line accurately, autonomous flight is a desirable feature with unmanned aerial vehicles (UAVs). To attain this objective, three visual servo controllers are proposed, one of them is position based and the other two are image based using inverse Jacobian and concepts of passivity, respectively. All controllers are developed based on the kinematic model of the vehicle, and a dynamic compensation is designed to be added in cascade with the kinematic one. The performance of the control systems is compared through simulation results. The main contribution is the development of the image based controller using passivity properties of the system, the stability and robustness analysis, and the comparative performance with other controllers when used for an UAV following vegetal lines. These comparative results are valuable to choose the appropriate driver for a specific application.

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previous chapter Stabilization of Airborne Video Using Sensor Exterior Orientation with Analytical Homography Modeling
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Appendix
Available only for authorised users
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Metadata
Title
Visual Servo Controllers for an UAV Tracking Vegetal Paths
Authors
Jorge A. Sarapura
Flavio Roberti
Juan Marcos Toibero
José María Sebastián
Ricardo Carelli
Copyright Year
2020
Book
Machine Vision and Navigation

Print ISBN: 978-3-030-22586-5

Electronic ISBN: 978-3-030-22587-2

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-22587-2_18