TY - GEN
T1 - Image-based visual servoing for quadrotor helicopters using genetic algorithm
AU - Li, Xuesi
AU - Jiang, Kai
AU - Yang, Chunlei
AU - Wang, Zhihong
AU - Zhu, Xuejun
AU - Wang, Hongbo
AU - Shi, Haobin
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - Flying and hovering control are key technologies for the quadrotor helicopters, and could improve the performance of quadrotor helicopters. Whereas, problems of cumulative bias, low generality, high sensitivity for parameters, etc. always existing in control methods of quadrotor helicopters attract interests of many researchers. This paper puts forward an improved image-based visual servoing method with a dynamic servoing gain tuned by genetic algorithm (IBVS-GA). Complying with the under-actuated characteristics of the quadrotor helicopter, simplified IBVS model is designed where the dimension of the control parameters are reduced into four from six. The genetic algorithm is then utilized for obtaining the appropriate servoing gain value. The results of simulations and experiments demonstrate that the proposed method has better properties in efficiency than the competing methods.
AB - Flying and hovering control are key technologies for the quadrotor helicopters, and could improve the performance of quadrotor helicopters. Whereas, problems of cumulative bias, low generality, high sensitivity for parameters, etc. always existing in control methods of quadrotor helicopters attract interests of many researchers. This paper puts forward an improved image-based visual servoing method with a dynamic servoing gain tuned by genetic algorithm (IBVS-GA). Complying with the under-actuated characteristics of the quadrotor helicopter, simplified IBVS model is designed where the dimension of the control parameters are reduced into four from six. The genetic algorithm is then utilized for obtaining the appropriate servoing gain value. The results of simulations and experiments demonstrate that the proposed method has better properties in efficiency than the competing methods.
KW - Dynamic servoing gain
KW - Genetic algorithm
KW - Image-based visual servoing
KW - Quadrotor helicopter
KW - Under-actuated system
UR - https://www.scopus.com/pages/publications/85072322550
U2 - 10.1109/ICInfA.2018.8812442
DO - 10.1109/ICInfA.2018.8812442
M3 - 会议稿件
AN - SCOPUS:85072322550
T3 - 2018 IEEE International Conference on Information and Automation, ICIA 2018
SP - 1216
EP - 1221
BT - 2018 IEEE International Conference on Information and Automation, ICIA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Information and Automation, ICIA 2018
Y2 - 11 August 2018 through 13 August 2018
ER -