Two-view Epipole-based Guidance Control for Autonomous Unmanned Aerial Vehicles

W. Achicanoy, C. Sagüés, G. López-Nicolás, C. Rodríguez

2012

Abstract

A visual control based on epipolar geometry is proposed to guide an autonomous unmanned aerial vehicle (UAV) to a target position. The interest of this contribution resides in a new controller that allows purely vision-based guidance reducing the dependence on the accuracy of the system’s state estimation using sensors as InertialMeasurement Units (IMU) and Global Positioning Systems (GPS). A current view and a target view are defined by a camera on-board the vehicle and a camera located at the target’s position, respectively. The epipolar coordinates from these views are used to design a nonlinear control based on input-output linearization of the nonlinear engagement rule that relates the cameras’ positions in time. An integrator is included to force the outputs (epipolar coordinates) to follow an equilibrium point and a state feedback control law is proposed to stabilize the outcome of the linearized input-output mapping. Simulation experiments for guidance of an small autonomous UAV with a classical three-loop autopilot are presented.

Paper Citation

in Harvard Style

Achicanoy W., Sagüés C., López-Nicolás G. and Rodríguez C. (2012). Two-view Epipole-based Guidance Control for Autonomous Unmanned Aerial Vehicles . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 242-248. DOI: 10.5220/0004032402420248

in Bibtex Style

@conference{icinco12,
author={W. Achicanoy and C. Sagüés and G. López-Nicolás and C. Rodríguez},
title={Two-view Epipole-based Guidance Control for Autonomous Unmanned Aerial Vehicles},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={242-248},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004032402420248},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Two-view Epipole-based Guidance Control for Autonomous Unmanned Aerial Vehicles
SN - 978-989-8565-22-8
AU - Achicanoy W.
AU - Sagüés C.
AU - López-Nicolás G.
AU - Rodríguez C.
PY - 2012
SP - 242
EP - 248
DO - 10.5220/0004032402420248