An image-based visual servoing control method for UAVs based on fuzzy logic

被引：3
|
作者：
Fu, Gui [1 ,2 ]
Fang, Linyi [1 ]
Liu, Liwen [3 ]
Zhu, Xinyu [1 ]
Wang, You [1 ]
机构：
[1] Civil Aviat Flight Univ China, Inst Elect & Elect Engn, Deyang, Peoples R China
[2] Southwest Univ Sci & Technol, Sch Informat Engn, Mianyang, Peoples R China
[3] Civil Aviat Flight Univ China, Coll Flight Technol, Deyang 618307, Peoples R China
来源：
ADVANCES IN MECHANICAL ENGINEERING | 2023年 / 15卷 / 04期
关键词：
Visual servoing; fuzzy logic; field-of-view; UAVs;
D O I：
10.1177/16878132231167238
中图分类号：
O414.1 [热力学];
学科分类号：
摘要：
Visual servoing is a method to achieve precise positioning and motion control of objects by visual feedback, and it is widely applied in the fields of robotics and unmanned aerial vehicles (UAVs) in recent years. This paper presents a novel image-based visual servoing (IBVS) control method for UAVs based on fuzzy logic to effectively solve the problem under field of view constraint and improve the control efficiency. In this paper, a fuzzy logic of servo gain is designed for the control input of visual servoing, which solves the problem of feature loss in IBVS and improves the efficiency. Meanwhile, a deep computing method based on known data is proposed to solve the unknown depth of Jacobian matrix, which makes the control easier to converge. The effectiveness of the proposed method is verified by the simulation of a quadrotor UAV equipped with a monocular camera.
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收藏
页数：8
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