An image-based visual servoing control method for UAVs based on fuzzy logic

摘要

Visual servoing is a method to achieve precise positioning and motion control of objects by visual feedback, and it is widely applied in the fields of robotics and unmanned aerial vehicles (UAVs) in recent years. This paper presents a novel image-based visual servoing (IBVS) control method for UAVs based on fuzzy logic to effectively solve the problem under field of view constraint and improve the control efficiency. In this paper, a fuzzy logic of servo gain is designed for the control input of visual servoing, which solves the problem of feature loss in IBVS and improves the efficiency. Meanwhile, a deep computing method based on known data is proposed to solve the unknown depth of Jacobian matrix, which makes the control easier to converge. The effectiveness of the proposed method is verified by the simulation of a quadrotor UAV equipped with a monocular camera.