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- Publisher Website: 10.1109/TMECH.2022.3231405
- Scopus: eid_2-s2.0-85147315734
- WOS: WOS:000921101400001
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Article: Robocentric Model-based Visual Servoing for Quadrotor Flights
Title | Robocentric Model-based Visual Servoing for Quadrotor Flights |
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Authors | |
Keywords | Estimation Mathematical models Model predictive controller (MPC) obstacle avoidance Predictive models Quadrotors Task analysis unmanned aerial vehicle (UAV) Visual servoing visual servoing Visualization |
Issue Date | 13-Jan-2023 |
Publisher | Institute of Electrical and Electronics Engineers |
Citation | IEEE/ASME Transactions on Mechatronics, 2023 How to Cite? |
Abstract | This article proposes a robocentric formulation for quadrotor visual servoing. This formulation presents the task-specific state dynamics of the quadrotor in its body reference frame. Compared with other visual servoing methods, our method allows tightly and integrated state estimation and control on the same robocentric model, and allows a faster system response in aggressive quadrotor flights. On the theory level, we prove the controllability and observability of the proposed robocentric model. Then, we design an on-manifold Kalman filter for the estimation and an on-manifold iterative model predictive control for motion planning and control. We verify our proposed formulation and controller in two crucial quadrotor flight tasks: 1) hovering; and 2) dynamic obstacle avoidance. Experiment results show that the quadrotor is able to resist large external disturbances and recover its position and orientation from two reference visual features. Moreover, the quadrotor is able to avoid dynamic obstacles reliably at a relative speed up to 7.4 m/s, demonstrating the effectiveness of our visual servoing methods in agile quadrotor flights. |
Persistent Identifier | http://hdl.handle.net/10722/331148 |
ISSN | 2023 Impact Factor: 6.1 2023 SCImago Journal Rankings: 2.133 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Li, YH | - |
dc.contributor.author | Lu, GZ | - |
dc.contributor.author | He, DJ | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2023-09-21T06:53:09Z | - |
dc.date.available | 2023-09-21T06:53:09Z | - |
dc.date.issued | 2023-01-13 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, 2023 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10722/331148 | - |
dc.description.abstract | <p>This article proposes a robocentric formulation for quadrotor visual servoing. This formulation presents the task-specific state dynamics of the quadrotor in its body reference frame. Compared with other visual servoing methods, our method allows tightly and integrated state estimation and control on the same robocentric model, and allows a faster system response in aggressive quadrotor flights. On the theory level, we prove the controllability and observability of the proposed robocentric model. Then, we design an on-manifold Kalman filter for the estimation and an on-manifold iterative model predictive control for motion planning and control. We verify our proposed formulation and controller in two crucial quadrotor flight tasks: 1) hovering; and 2) dynamic obstacle avoidance. Experiment results show that the quadrotor is able to resist large external disturbances and recover its position and orientation from two reference visual features. Moreover, the quadrotor is able to avoid dynamic obstacles reliably at a relative speed up to 7.4 m/s, demonstrating the effectiveness of our visual servoing methods in agile quadrotor flights.</p> | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | - |
dc.rights | This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License. | - |
dc.subject | Estimation | - |
dc.subject | Mathematical models | - |
dc.subject | Model predictive controller (MPC) | - |
dc.subject | obstacle avoidance | - |
dc.subject | Predictive models | - |
dc.subject | Quadrotors | - |
dc.subject | Task analysis | - |
dc.subject | unmanned aerial vehicle (UAV) | - |
dc.subject | Visual servoing | - |
dc.subject | visual servoing | - |
dc.subject | Visualization | - |
dc.title | Robocentric Model-based Visual Servoing for Quadrotor Flights | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TMECH.2022.3231405 | - |
dc.identifier.scopus | eid_2-s2.0-85147315734 | - |
dc.identifier.eissn | 1941-014X | - |
dc.identifier.isi | WOS:000921101400001 | - |
dc.identifier.issnl | 1083-4435 | - |