CBF Based Geometric Visual Servoing Control for Quadrotors with FOV Constraint

被引：0
|
作者：
Zhang, Haoran [1 ]
Wang, Runhua [1 ]
Zhang, Xuetao [2 ]
Li, Tianyi [1 ]
Zhang, Shiyong [1 ]
Zhang, Xuebo [1 ]
机构：
[1] Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China
[2] Dalian Univ Technol, Coll Artificial Intelligence, Dalian 116024, Peoples R China
来源：
PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷
关键词：
Quadrotors; Control barrier function (cbf); Fov constraint; Geometric controller; Quadratic programming (qp);
D O I：
10.1007/978-981-99-0479-2_354
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3834 / 3843
页数：10
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