Homography-Based Visual Servoing for Underactuated VTOL UAVs Tracking a 6-DOF Moving Ship

Yanting Huang,Ming Zhu,Zewei Zheng,Kin Huat Low

IEEE Transactions on Vehicular Technology（2022）

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摘要

This paper develops a novel homography-based visual servo control method for the vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) tracking the trajectory of a 6 degrees of freedom (6-DOF) moving ship. Different from the classical homography-based visual servoing which is only suitable for the trajectory tracking of a planar moving target, an extended homography-based visual servo...

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关键词

Visualization,Marine vehicles,Visual servoing,Autonomous aerial vehicles,Target tracking,Vehicle dynamics,Transmission line matrix methods

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