Image-based visual servo control for circular trajectories for a fixed-wing aircraft

Abstract

This paper describes a new visual-servo control algorithm to stabilize an aircraft along a circular trajectory using a single visual landmark on textured flat ground. The control algorithm requires a sensor suite consisting of inertial measurement unit, along with a single embedded camera capable of detecting and tracking a visual feature and estimating optic flow. The proposed control algorithm does not require independent position or velocity measurements and functions effectively in the absence of global positioning system (GPS) signals. We prove local asymptotic convergence of the closed-loop system and provide simulation results to illustrate the closedloop system performance.

Vision-Based Loitering Over a Target for a Fixed-Wing UAV

“…We will also assume that a measurement of the UAV speed v is available. In practice, this may be obtained via a Pitot tube, computed from GPS data or reconstructed from optical flow (Le Bras et al, 2009). Fig.…”

“…For example, Chen and Dawson (2006) proposed an IBVS control strategy for the related problem of tracking a moving UAV. In the work of Le Bras et al (2009), a control scheme based on spherical projection and optic flow is developed for the case of a UAV equipped with a fixed camera; convergence to a circular trajectory is enforced by a suitable definition of the visual task.…”

Visual Servoing of Fixed - Wing Unmanned Aerial Vehicle Using Command Filtered Backstepping

“…Several studies about UAV using IBVS have also been conducted especially for rotary wing UAV to control its position and attitude with a camera fixed to its body frame [10] and for fixed-wing UAV to control landing guidance [11] and tracking linear infrastructure [12] with camera fixed to its body frame. Implementation of IBVS on fixed wing UAV with gimbaled camera mechanism to loiter the target object [13] has also been conducted using integral backstepping (IBS) control law [15] that adopts a simplified model of fixed-wing UAV [14].…”

Vision-based Guidance for Loitering over a Target

“…For example, in one study, a visual servo controller was developed for a monocular camera mounted on a UAV to track a leading UAV with a fixed relative position and orientation [9]. Another method that stabilizes an aircraft along a circular trajectory using a single visual landmark on textured flat ground can be found in [10]. The problem of tracking a target using a UAV with a gimbaled camera was considered in [11] using a back-stepping technique while simultaneously bringing the vehicle to orbit on a circular trajectory.…”