Lateral control of an aerial unmanned robot using visual servoing techniques

摘要

This work addresses the issue of the lateral control of an outdoor robotic airship while following a predefined path using visual servoing techniques. The vision-based control application is based on an interaction matrix related to line features extracted from an on-board camera as feedback signals. An output LQR controller for the visual servo control is designed using the lateral dynamic model of the airship. The proposed approach is validated using a realistic simulator of the AS-800 unmanned airship.