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Estimation of an Unmannaed Aerial Vehicle's (UAV) state, i.e., its pose and velocity, is fundamentally important to its operation. Computer vision provides an alternate or augmentation source for performing state estimation. This work uses an existing monocular Visual Simultaneous Localization and Mapping (VSLAM) system which estimates scaled vehicle position. Two observers are proposed for Visual...
We propose an adaptive image-based visual servoing controller for an unmanned aerial vehicle (UAV) that is based on a virtual camera. The controller regulates relative position and yaw of the vehicle to a planar target consisting of multiple points. We adopt image moment features, which simplify the controller’s derivation. The control is adaptive to various system parameters. We prove exponential...
This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor Unmanned Aerial Vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it based on the dynamics and kinematics of the vehicle. The proposed...
This paper presents a new visual servo controller based on geometric algebra (GA). The controller has an angular and translational components that are designed using rotors and translators. The controller does not require additional calculations or jacobian-like matrices. We modify the controller to regulate a mobile robot with three degrees of freedom controllable by two. The proposed controller...
Conformal Geometric Algebra (CGA) can greatly improve controllers by simplifying the necessary equations and by its ability to apply geometric operations to more complicated geometric entities. In this paper we extend a singularity free CGA-based angular and linear velocity controller with navigation functions. The first navigation function ensures that the object being tracked is always within the...
This paper presents a new visual servo controller based on geometric algebra (GA). The controller has an angular and translational components that are designed using rotors and translators. The controller does not require additional calculations or jacobian-like matrices. The proposed adaptive controller regulates a camera to a desired position and orientation from a desired image. Lastly, we develop...
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