Quadrotor UAV interception based on visual control with IMU rotation compensation in the image space
Year: 2026
Type: conference-paper
Abstract: Image-Based Visual Servoing (IBVS) is widely used for UAV interception due to its model-free formulation and direct reliance on image measurements. However, in quadrotor interception scenarios, significant camera rotations generate rotational optical flow that structurally distorts the image kinematics, leading to spurious translational control commands and degraded performance. This paper proposes an IMU-assisted IBVS framework that explicitly compensates for rotational optical flow directly in the image space. By using IMU-measured angular velocities and the image interaction matrix, the rotational component of image feature dynamics is removed, restoring the standard translational IBVS structure without requiring 3D state estimation. A Lyapunov-based analysis establishes local convergence of the compensated IBVS control law. Simulation results, including multiple interception scenarios and Monte Carlo trials, demonstrate significantly improved accuracy, faster convergence, and enhanced robustness compared to classical IBVS and observer-based approaches, particularly under aggressive UAV rotations.
Authors: THANH KHANH Le, TUAN BA Le, HUY QUOC Vu
Institution: Viện Công nghệ Điều khiển và Tự động hóa
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7225693304