Image Based Visual Servo Control of Dynamic Under-Actuated Systems

动态欠驱动系统的基于图像的视觉伺服控制

• 批准号: DP0342849
• 负责人: Prof Robert Mahony
• 金额: $ 12.02万
• 依托单位: The Australian National University
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2003
• 资助国家: 澳大利亚
• 起止时间: 2003-01-01 至 2005-12-31
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP0342849
• 关键词: Image; Based; Visual; Servo; Control

The project builds on earlier work on visual servo control of under-actuated rigid body dynamics to develop and implement sophisticated and robust image based visual servo control for a wide class of under-actuated and fully actuated dynamic systems. The scope of the project extends far beyond basic testing of preliminary results to address key technical issues facing visual servo control algorithms at this time. The project is strongly motivated by the host of emerging applications for visual servo control of unmanned aerial vehicles. The experimental program within the project is based on control of a four rotor VTOL `hoverbot'.

该项目建立在欠驱动刚体动力学的视觉伺服控制的早期工作，开发和实施复杂和强大的基于图像的视觉伺服控制的欠驱动和全驱动动态系统的广泛类。 该项目的范围远远超出了初步结果的基本测试，以解决视觉伺服控制算法目前面临的关键技术问题。该项目是强烈的动机主机的新兴应用程序的视觉伺服控制的无人机。 该项目的实验方案是基于对四旋翼垂直起落“悬浮机器人”的控制。