Visual Servo Tracking Control of Quadrotor with a Cable Suspended Load

被引：0

作者：

Jia, Erping ^{[1
]}

Chen, Haoyao ^{[1
]}

Li, Yanjie ^{[1
]}

Lou, Yunjiang ^{[1
]}

Liu, Yunhui ^{[1
]}

机构：

[1] Harbin Inst Technol Shenzhen, Sch Mech Engn & Automat, Shenzhen, Peoples R China

来源：

COMPUTER VISION SYSTEMS, ICVS 2017 | 2017年 / 10528卷

基金：

中国国家自然科学基金;

关键词：

Visual servoing; UAV; Suspended load; Target tracking control; UAVS;

D O I：

10.1007/978-3-319-68345-4_7

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

To follow a moving target, the visual servo control of a quadrotor with a cable suspended load is proposed. A monocular camera with rotation degree along y axis is equipped on the quadrotor. The dynamic model for the whole system is presented to design target tracking controller. An image based visual servoing controller is proposed to provide position and yaw reference information for the quadrotor control, when the quadrotor is too far away from target. OpenTLD is used to provide the visual feedback information for visual servoing. When the quadrotor is close enough to the target, the AprilTag technology is applied to provide the pose information for position control. Based on the dynamic model and the reference information from the visual servoing or AprilTag, a quadrotor- load PD controller is presented. Finally, simulation results are presented to illustrate the effectiveness of the proposed approaches.

引用

页码：72 / 85

页数：14

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