A vision-based servoing technique is proposed for a 2 degrees-of-freedom (dof) model helicopter equipped with a monocular vision system. In general, these techniques can be categorized as image- and position-based, where the task error is defined in the image plane in the former and in the physical space in the latter. The 2-dof model helicopter requires a configuration-dependent feed-forward control to compensate for gravitational forces when servoing on a ground target. Therefore, a position-based visual servoing deems more appropriate for precision control. Image information collected from a ground object, with known geometry a priori, is used to calculate the desired pose of the camera and correspondingly the desired joint angles of the model helicopter. To assure a smooth servoing, the task error is parameterized, using the information obtained from the linearaized image Jacobian, and time scaled to form a moving reference trajectory. At the higher level, a Linear Quadratic Regulator (LQR), augmented with a feed-forward term and an integrator, is used to track this trajectory. The discretization of the reference trajectory is achieved by an error-clamping strategy for optimal performance. The proposed technique was tested on a 2-dof model helicopter capable of pitch and yaw maneuvers carrying a light-weight off-the-shelf video camera. The test results show that the optimized controller can servo the model helicopter to a hovering pose for an image acquisition rate of as low as 2 frames per second.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5480-8
PROCEEDINGS PAPER
Optimal Error-Clamping Design for Position-Based Visual Servoing of a 2-DOF Model Helicopter Available to Purchase
M. Alizadeh,
M. Alizadeh
University of Regina, Regina, SK, Canada
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C. Ratanasawanya,
C. Ratanasawanya
University of Regina, Regina, SK, Canada
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M. Mehrandezh,
M. Mehrandezh
University of Regina, Regina, SK, Canada
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R. Paranjape
R. Paranjape
University of Regina, Regina, SK, Canada
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M. Alizadeh
University of Regina, Regina, SK, Canada
C. Ratanasawanya
University of Regina, Regina, SK, Canada
M. Mehrandezh
University of Regina, Regina, SK, Canada
R. Paranjape
University of Regina, Regina, SK, Canada
Paper No:
DETC2011-48644, pp. 983-989; 7 pages
Published Online:
June 12, 2012
Citation
Alizadeh, M, Ratanasawanya, C, Mehrandezh, M, & Paranjape, R. "Optimal Error-Clamping Design for Position-Based Visual Servoing of a 2-DOF Model Helicopter." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 983-989. ASME. https://doi.org/10.1115/DETC2011-48644
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