Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle

Authors:
Odile Bourquardez;Robert Mahony;Nicolas Guenard;François Chaumette;Tarek Hamel;Laurent Eck
Affiliations:
Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA)-Centre National de la Recherche Scientifique (CNRS) and l’Institut National de Recherche en Informatique et en ...;Department of Engineering, Australian National University, Canberra, A.C.T., Australia;Commissariat à l’Energie Atomique (CEA)/List, Fontenay-aux-Roses, France;Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA)-Centre National de la Recherche Scientifique (CNRS) and l’Institut National de Recherche en Informatique et en ...;Laboratoire d’Informatique, Signaux et Systèmes de Sophia antipolis (I3S), Université de Nice Sophia-Antipolis (UNSA)-Centre National de la Recherche Scientifique (CNRS), Sophia An ...;Commissariat à l’Energie Atomique (CEA)/List, Fontenay-aux-Roses, France
Venue:
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Year:
2009

Citing 5
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Abstract

In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position ofa quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and demonstrate excellent performance.