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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Mehta, S.S. Curtis, J.W. |
| Copyright Year | 2011 |
| Description | Author affiliation: Research and Engineering Education Facility, University of Florida, Shalimar, 32579, USA (Mehta, S.S.) || Munitions Directorate, Air Force Research Laboratory, Eglin AFB, FL-32542, USA (Curtis, J.W.) |
| Abstract | In this paper, we formulate a visual servo control problem when a reference image corresponding to the desired position and orientation (i.e., pose) of a camera is not available. The desired pose is described in terms of the introduced angle of incidence and point of arrival of a camera coordinate frame. The presented problem is motivated by the application of homing missiles where a reference image may not be available and the angle of contact with a target is crucial to maximizing the target penetration. A new geometric approach is presented to formulate a rotation error system that minimizes the required control effort while achieving the desired angle of incidence. A nonlinear adaptive control law is developed to provide 6 degrees of freedom camera motion while compensating for an unknown target depth; stability analysis is presented to prove asymptotic regulation of the system states. High-fidelity numerical simulation results are provided to verify the performance of the proposed visual servo controller. |
| Starting Page | 3113 |
| Ending Page | 3118 |
| File Size | 450228 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781457706523 |
| ISSN | 1062922X |
| e-ISBN | 9781457706530 |
| DOI | 10.1109/ICSMC.2011.6084138 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-10-09 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Cameras Visualization Vectors Adaptive optics Servomotors Optical imaging Euclidean homography visual servo control adaptive control |
| Content Type | Text |
| Resource Type | Article |
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