Two-view Epipole-based Guidance Control for Autonomous Unmanned Aerial Vehicles
Year: 2012
Type: conference-paper
Abstract: A visual control based on epipolar geometry is proposed to guide an autonomous unmanned aerial vehicle (UAV) to a target position. The interest of this contribution resides in a new controller that allows purely vision-based guidance reducing the dependence on the accuracy of the system’s state estimation using sensors as Inertial Measurement Units (IMU) and Global Positioning Systems (GPS). A current view and a target view are defined by a camera on-board the vehicle and a camera located at the target’s position, respectively. The epipolar coordinates from these views are used to design a nonlinear control based on input-output linearization of the nonlinear engagement rule that relates the cameras’ positions in time. An integrator is included to force the outputs (epipolar coordinates) to follow an equilibrium point and a state feedback control law is proposed to stabilize the outcome of the linearized input-output mapping. Simulation experiments for guidance of an small autonomous UAV with a classical three-loop autopilot are presented.
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W2396964601