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.

View at publisher


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.

Impact and interest:

7 citations in Scopus
5 citations in Web of Science®
Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

353 since deposited on 27 Jan 2011
17 in the past twelve months

Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 37805
Item Type: Journal Article
Refereed: Yes
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.
Additional URLs:
DOI: 10.1007/s10846-010-9480-1
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
Copyright Owner: Copyright 2010 Springer Science+Business Media B.V
Copyright Statement: The final publication is available at
Deposited On: 27 Jan 2011 03:57
Last Modified: 24 Jun 2017 14:34

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page