Visual servoing with dynamics: control of an unmanned blimp

Hong Zhang, James P. Ostrowski

Research output: Contribution to journalConference articlepeer-review

146 Scopus citations

Abstract

Image-based control of free-flying mechanical systems is addressed, with application to an indoor vision-guided blimp. A methodology is developed for incorporating the physical parameters of a mechanical system into the image plane for performing visual servoing. It is noted that under suitable conditions, namely the existence of a diffeomorphism between image features and robot pose, many tools from mechanical system control theory can be used directly when applied in the image plane. It is shown that when a suitable Jacobian map exists between pose and features, dynamics for vision-based control of aerial and underwater vehicles can easily be formulated. Experimental results show initial success at spatial tracking of simple objects.

Original languageEnglish (US)
Pages (from-to)618-623
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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