Año: 2017
Autores: Sarapura, J.; Roberti, F.; Carelli, R.; Sebastián, J.;
Resumen: Autonomous flight with UAVs is a desirable feature in applications such as the surveillance and inspection of large areas including crop areas. In this context, the development of a passivity based visual servoing controller with dynamics compensation for the tracking of roads is presented in this paper. The proposed system allows the autonomous navigation of a UAV on straight lines such as those found in areas of structured crops. The stability of the controller is shown in the context of the input-output theory and based on the passivity properties of the system. The performance of the resulting control system is shown by simulation.
Link: https://ieeexplore.ieee.org/document/8214320