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A fast vision-based road following strategy applied to the control of aerial robots

Geraldo F. SilveiraJ. Reginaldo H. CarvalhoMarconi K. MadridPatrick RivesSamuel S. Bueno

The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the non-holonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an Interaction Matrix. Simulation results validating the methodology are shown at the end of the paper.

http://sibgrapi.sid.inpe.br/rep-/sid.inpe.br/banon/2002/12.02.12.00

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