Vision based control for fixed wing UAVs inspecting locally linear infrastructure using skid-to-turn maneuvers
Mills, Steven, Ford, Jason J., & Mejias, Luis (2011) Vision based control for fixed wing UAVs inspecting locally linear infrastructure using skid-to-turn maneuvers. Journal of Intelligent and Robotic Systems, 61(1), pp. 29-42.
The following paper proposes a novel application of Skid-to-Turn maneuvers for fixed wing Unmanned Aerial Vehicles (UAVs) inspecting locally linear infrastructure. Fixed wing UAVs, following the design of manned aircraft, commonly employ Bank-to-Turn ma- neuvers to change heading and thus direction of travel. Whilst effective, banking an aircraft during the inspection of ground based features hinders data collection, with body fixed sen- sors angled away from the direction of turn and a panning motion induced through roll rate that can reduce data quality. By adopting Skid-to-Turn maneuvers, the aircraft can change heading whilst maintaining wings level flight, thus allowing body fixed sensors to main- tain a downward facing orientation. An Image-Based Visual Servo controller is developed to directly control the position of features as captured by onboard inspection sensors. This improves on the indirect approach taken by other tracking controllers where a course over ground directly above the feature is assumed to capture it centered in the field of view. Performance of the proposed controller is compared against that of a Bank-to-Turn tracking controller driven by GPS derived cross track error in a simulation environment developed to replicate the field of view of a body fixed camera.
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|Item Type:||Journal Article|
|Additional Information:||This article was also published as a conference paper at: Proceedings of the 3rd International Symposium on Unmanned Aerial Vehicles, 21-23 June 2010, Al Bustan Rotana Hotel, Dubai.|
|ISSN:||0921-0296 / 1573-0409|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation|
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2010 Springer Science+Business Media B.V|
|Copyright Statement:||The final publication is available at www.springerlink.com|
|Deposited On:||27 Jan 2011 13:57|
|Last Modified:||29 Feb 2012 20:28|
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