TY - GEN
T1 - Obstacle avoidance using image-based visual servoing integrated with nonlinear model predictive control
AU - Lee, Daewon
AU - Lim, Hyon
AU - Kim, H. Jin
PY - 2011
Y1 - 2011
N2 - This paper proposes a vision-based obstacle avoidance strategy in a dynamic environment for a fixed-wing unmanned aerial vehicle (UAV). In order to apply a nonlinear model predictive control (NMPC) framework to image-based visual servoing (IBVS), a dynamic model from UAV control input to image features is derived. From this dynamics, a visual information-based obstacle avoidance strategy in an unknown environment is proposed. When a vision system is employed on a UAV, it is easy to lose visibility of the target in the image plane due to its maneuvering. To address this issue, a visibility constraint is considered in the NMPC framework. The advantage of the proposed method is that the constraints (e.g., visibility maintaining, actuator saturation) can be modeled and solved in a unified framework. Numerical simulations on a UAV model show satisfactory results in reference tracking and obstacle avoidance maneuvers with the constraints.
AB - This paper proposes a vision-based obstacle avoidance strategy in a dynamic environment for a fixed-wing unmanned aerial vehicle (UAV). In order to apply a nonlinear model predictive control (NMPC) framework to image-based visual servoing (IBVS), a dynamic model from UAV control input to image features is derived. From this dynamics, a visual information-based obstacle avoidance strategy in an unknown environment is proposed. When a vision system is employed on a UAV, it is easy to lose visibility of the target in the image plane due to its maneuvering. To address this issue, a visibility constraint is considered in the NMPC framework. The advantage of the proposed method is that the constraints (e.g., visibility maintaining, actuator saturation) can be modeled and solved in a unified framework. Numerical simulations on a UAV model show satisfactory results in reference tracking and obstacle avoidance maneuvers with the constraints.
UR - https://www.scopus.com/pages/publications/84860671464
UR - https://www.scopus.com/inward/citedby.url?scp=84860671464&partnerID=8YFLogxK
U2 - 10.1109/CDC.2011.6161197
DO - 10.1109/CDC.2011.6161197
M3 - Conference contribution
AN - SCOPUS:84860671464
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5689
EP - 5694
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -