A quaternion formulation for homography-based visual servo control

被引：19
|
作者：
Hu, G. [1 ]
Dixon, W. E. [1 ]
Gupta, S. [1 ]
Fitz-Coy, N. [1 ]
机构：
[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
D O I：
10.1109/ROBOT.2006.1642060
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Previous homography-based visual servo controllers have been developed using an error system that contains a singularity resulting from the representation of the rotation matrix. For some aerospace applications such as visual servo control of satellites or air vehicles, the singularity introduced by the rotation representation may be restrictive. To eliminate this singularity, a homography-based visual servo controller is developed in this paper based on an error system composed of the unit quaternion representation. The proposed adaptive controller regulates a camera to a desired position and orientation that is determined from a desired image. A quaternion-based Lyapunov function is developed to facilitate the control design and the stability analysis.
引用
收藏
页码：2391 / +
页数：3
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