Abstract
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by the design of the inner-loop control. At the second stage, the image features on the textured target plane are exploited to derive a vision-based control law. The image of the spherical centroid of a set of landmarks present in the landing target is used as a position measurement, whereas the translational optical flow is used as velocity measurement. The kinematics of the vision-based system is expressed in terms of the observable features, and the proposed control law guarantees convergence without estimating the unknown distance between the vision system and the target, which is also guaranteed to remain strictly positive, avoiding undesired collisions. The performance of the proposed control law is evaluated in MATLAB and 3-D simulation software Gazebo. Simulation results for a quadrotor UAV are provided for different velocity profiles of the moving target, showcasing the robustness of the proposed controller.
Abstract (translated)
本文研究了在运动平台上使用图像为基础的视觉伺服控制来解决无人机着陆问题的方法，以一个简单的四旋翼为例。首先介绍无人机的数学模型，然后是内循环控制的设计。在第二阶段，利用纹理目标平面上的图像特征来导出视觉为基础的控制律。纹理目标座标的图像被用作位置测量，而平移光流被用作速度测量。视觉系统的运动学用可观测特征表示，而所提出的控制律保证在不需要估计视觉系统与目标之间的未知距离的情况下收敛，同时也保证该距离始终保持正值，从而避免不必要的碰撞。所提出的控制律在MATLAB和3D仿真软件Gazebo中进行了性能评估。为不同速度目标的无人机模拟了不同的速度剖面，展示了所提出的控制器的稳健性。
URL
https://arxiv.org/abs/2404.11336
