In this paper, a visual servoing scheme is proposed to control an airplane during its landing. A linearized model of the airplane dynamics and decoupled visual features are used to build the control scheme. A desired trajectory which takes into account the airplane dynamic is designed. Coupling this trajectory and the control law enables the airplane to… (More)
In this paper, we propose a visual servoing scheme to align an airplane with respect to a runway. A linearized model of the airplane dynamics and decoupled visual features are designed to build the control scheme. Simulation results are obtained with a quite realistic flight simulator which is based on a non linear airplane dynamic model. They show that the… (More)
In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position of a quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and demonstrate excellent performance.
Image moments provide an important class of image features used for image-based visual servo control. Spherical image moments have the additional desirable property that they are invariant under rotation of the camera frame. For these features one can study the local and global stability and performance of the position control independently of the rotation… (More)
Image moments provide an important class of image features used for image-based visual servo control. Perspective zeroth and first order image moments provide a quasi linear and decoupled link between the image features and the translational degrees of freedom. Spherical first-order image moments have the additional desirable passivity property. They allow… (More)