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Conference Papers Year : 2008

Kinematic visual servo controls of an X4-flyer: practical study


Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow to decouple the position control scheme from the rotation dynamics. This property is suitable to control an under-actuated aerial vehicle such as a quadrotor. In this paper a range of kinematic control laws using spherical image moments and perspective image moments are experimented on a quadrotor aerial vehicle prototype. The task considered is to reach a desired position with respect to a specified target. Three control schemes show excellent performances in practice whereas each one has different theoretical properties.
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inria-00351858 , version 1 (12-01-2009)


  • HAL Id : inria-00351858 , version 1


O. Bourquardez, N. Guenard, Tarek Hamel, François Chaumette, R. Mahony, et al.. Kinematic visual servo controls of an X4-flyer: practical study. Mediterranean Conf. on Intelligent Systems and Automation, CISA'08, 2008, Annaba, Algeria, France. ⟨inria-00351858⟩
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