Visual Servoing of a Quadrotor UAV for the Tracking of Linear Structured Infrastructures
Oualid Araar, Nabil Aouf · 2013
In this paper, we propose and compare two control schemes to achieve the visual tracking of structured linear infrastructures using a quad rotor UAV. The two schemes are both based on Hough parameters. The first one has the same advantages of Position Based Visual Servoing (PBVS) scheme, without the need of full 3D position estimation, while the second is an Image Based Visual Servoing (IBVS) scheme based on an optimal LQR servo controller. Simulation results based on a full nonlinear model of the quad rotor show the validity of the two proposed approaches and their main advantages.