CBF Based Geometric Visual Servoing Control for Quadrotors with FOV Constraint

The basic prerequisite of visual servoing control for a quadrotor unmanned aerial vehicle (UAV) is to ensure that the visual targets are always within the field of view (FOV) of the camera. In this paper, a new geometric control approach is proposed under FOV constraint for the quadrotor, in which the control barrier function (CBF) is used to constrain the states of the quadrotor to guarantee the visibility of visual targets. Specifically, the CBFs related to the quadrotor states are firstly constructed to satisfy the forward invariance of the safety set, and the states of the quadrotor are restricted within the safe area. Then, control inputs calculated from the geometric controller are refined by quadratic programming (QP) with minimal modification. Comparative simulation results show the remarkable performance of the proposed method in ensuring the visibility of visual targets of the quadrotor visual servoing.