TY - GEN
T1 - Simultaneously multi-UAV mapping and control with visual servoing
AU - Lyu, Yang
AU - Pan, Quan
AU - Zhang, Yizhai
AU - Zhao, Chunhui
AU - Zhu, Haifeng
AU - Tang, Tongguo
AU - Liu, Liu
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/7
Y1 - 2015/7/7
N2 - In this article, we proposed a framework to realize vision based multi-UAV cooperative mapping and control with image based visual servoing (IBVS). Equipped with a camera on each UAV platform respecitively, the multi-UAV system with overlapping camera field of view (FOV) can achieve ground mapping and formation cooperatively by image information interaction. Initially, we introduce the Multi-UAV system and the related geometry frames. Then the system functions are described in two parallel aspects. On the formation control aspect, we introduce the visual servoing feature with SIFT moment. A visual servoing controller is utilized to guide SUAV to track the desired feature given by MUAV so as to realize the formation flying. On the mapping aspect, two mapping modes, maximum combined filed of view (CFOV) and maximum Overlapping field of view (OFOV) are designed and different desired feature generation methods are proposed. In the end, simulations are carried out on both mapping mode to demonstrate the feasibility of proposed formation control and mapping method.
AB - In this article, we proposed a framework to realize vision based multi-UAV cooperative mapping and control with image based visual servoing (IBVS). Equipped with a camera on each UAV platform respecitively, the multi-UAV system with overlapping camera field of view (FOV) can achieve ground mapping and formation cooperatively by image information interaction. Initially, we introduce the Multi-UAV system and the related geometry frames. Then the system functions are described in two parallel aspects. On the formation control aspect, we introduce the visual servoing feature with SIFT moment. A visual servoing controller is utilized to guide SUAV to track the desired feature given by MUAV so as to realize the formation flying. On the mapping aspect, two mapping modes, maximum combined filed of view (CFOV) and maximum Overlapping field of view (OFOV) are designed and different desired feature generation methods are proposed. In the end, simulations are carried out on both mapping mode to demonstrate the feasibility of proposed formation control and mapping method.
UR - http://www.scopus.com/inward/record.url?scp=84941123772&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2015.7152283
DO - 10.1109/ICUAS.2015.7152283
M3 - 会议稿件
AN - SCOPUS:84941123772
T3 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
SP - 125
EP - 131
BT - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Y2 - 9 June 2015 through 12 June 2015
ER -