A fast vision-based road following strategy applied to the control of aerial robots

摘要

The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the nonholonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an interaction matrix. Simulation results validating the strategy are shown.