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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. In Valavanis, K. (Ed.) Unmanned Aerial Vehicles. Springer, The Netherlands, pp. 29-42.

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Abstract

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, traditionally employ Bank-to-Turn maneuvers to change heading and thus direction of travel. Commonly overlooked is the effect these maneuvers have on downward facing body fixed sensors, which as a result of bank, point away from the feature during turns. By adopting Skid-to-Turn maneuvers, the aircraft is able change heading whilst maintaining wings level flight, thus allowing body fixed sensors to maintain a downward facing orientation. Eliminating roll also helps to improve data quality, as sensors are no longer subjected to the swinging motion induced as they pivot about an axis perpendicular to their line of sight. Traditional tracking controllers that apply an indirect approach of capturing ground based data by flying directly overhead can also see the feature off center due to steady state pitch and roll required to stay on course. An Image Based Visual Servo controller is developed to address this issue, allowing features to be directly tracked within the image plane. Performance of the proposed controller is tested against that of a Bank-to-Turn tracking controller driven by GPS derived cross track error in a simulation environment developed to simulate the field of view of a body fixed camera.

Impact and interest:

2 citations in Web of Science®
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ID Code: 47015
Item Type: Book Chapter
Additional Information: From publisher website: This is a hardbound spinoff from the Journal of Intelligent and Robotic Systems, Volume 61:1-4, 2011.
Keywords: Image Based Visual Servoing , Guidance and Control , Fixed Wing UAVs
ISBN: 978-94-007-1109-9
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 2011 Springer
Copyright Statement: This is the author-version of the work. Conference proceedings published, by Springer Verlag, will be available via SpringerLink. http://www.springerlink.com
Deposited On: 15 Nov 2011 23:14
Last Modified: 29 May 2012 06:21

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