Visual Servo with Dynamics : Control of an Unmanned Blimp ( Technical Report

@inproceedings{Zhang1999VisualSW,
  title={Visual Servo with Dynamics : Control of an Unmanned Blimp ( Technical Report},
  author={Hong Zhang and James P. Ostrowski},
  year={1999}
}
Image-based control of free-ying mechanical systems is addressed, with application to an indoor, vision-guided blimp. A methodology is developed for performing visual servoing by incorporating the physical parameters of a mechanical system into the image plane dynamics. It is noted that under suitable conditions, namely the existence of a diieomorphism between image features and the robot pose, many of the tools from mechanical systems control theory can be used directly when applied in the… CONTINUE READING
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