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2017 | OriginalPaper | Chapter

Visual Servo Tracking Control of Quadrotor with a Cable Suspended Load

Authors : Erping Jia, Haoyao Chen, Yanjie Li, Yunjiang Lou, Yunhui Liu

Published in: Computer Vision Systems

Publisher: Springer International Publishing

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Abstract

To follow a moving target, the visual servo control of a quadrotor with a cable suspended load is proposed. A monocular camera with rotation degree along y axis is equipped on the quadrotor. The dynamic model for the whole system is presented to design target tracking controller. An image based visual servoing controller is proposed to provide position and yaw reference information for the quadrotor control, when the quadrotor is too far away from target. OpenTLD is used to provide the visual feedback information for visual servoing. When the quadrotor is close enough to the target, the AprilTag technology is applied to provide the pose information for position control. Based on the dynamic model and the reference information from the visual servoing or AprilTag, a quadrotor-load PD controller is presented. Finally, simulation results are presented to illustrate the effectiveness of the proposed approaches.

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Metadata
Title
Visual Servo Tracking Control of Quadrotor with a Cable Suspended Load
Authors
Erping Jia
Haoyao Chen
Yanjie Li
Yunjiang Lou
Yunhui Liu
Copyright Year
2017
DOI
https://doi.org/10.1007/978-3-319-68345-4_7

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