Visual Controllers for Relative Positioning in Indoor Settings

Abstract

This paper presents an approach to visually control a quadrotor relative to known landmarks. Relative positioning is achieved here by a new decoupled approach to image based visual servoing (IBVS), in which rotational and translational coupling is minimised by introducing a decay function that is proportional to feature location in the image. Simulations and experiments were conducted to validate the proposed method. Results show that our method has benefits over standard decoupled IBVS by ensuring smoother trajectories in the image plane as well as in task space, minimising the risk of features leaving the image plane.