Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
Top Cited Papers
- 7 August 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 18 (2) , 187-198
- https://doi.org/10.1109/tra.2002.999647
Abstract
A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-hand" systems where the camera is fixed to a rigid body with actuated dynamics. The control design is motivated by a theoretical analysis of the dynamic equations of motion of a rigid body and exploits passivity-like properties of these dynamics to derive a Lyapunov control algorithm using robust backstepping techniques. The proposed control is novel in considering the full dynamic system incorporating all degrees of freedom (albeit for a restricted class of dynamics) and in not requiring measurement of the relative depths of the observed image points. A motivating application is the stabilization of a scale model autonomous helicopter over a marked landing pad.Keywords
This publication has 19 references indexed in Scilit:
- Active, uncalibrated visual servoingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Optimal motion control for image-based visual servoing by decoupling translation and rotationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROLAsian Journal of Control, 1999
- 2 1/2 D visual servoingIEEE Transactions on Robotics and Automation, 1999
- Dynamic effects in visual closed-loop systemsIEEE Transactions on Robotics and Automation, 1996
- Relative end-effector control using Cartesian position based visual servoingIEEE Transactions on Robotics and Automation, 1996
- A tutorial on visual servo controlIEEE Transactions on Robotics and Automation, 1996
- Robust asymptotically stable visual servoing of planar robotsIEEE Transactions on Robotics and Automation, 1996
- A new approach to visual servoing in roboticsIEEE Transactions on Robotics and Automation, 1992
- An analytic solution for the perspective 4-point problemComputer Vision, Graphics, and Image Processing, 1989