NDLI: A platform stabilization algorithm based on feedforward visual-inertial servoing

Content Provider	Springer Nature Link
Author	Nguyen, Ho Quoc Phuong Kang, Hee Jun Suh, Young Soo Elle, Ole Jacob
Copyright Year	2012
Abstract	This paper presents a method of improving performance of visual servoing system by integrating inertial sensors to the system. The method is applied to a roll and pitch rotated platform stabilization in high control frequency. For the purpose, an inertial measurement unit is attached to the platform to provide its dynamics information. A new inertial information based feedforward control is used along with the conventional visual feedback control. Two contributions are realized: first, it helps solve the remaining limitation of static-object assumption in conventional visual servoing. Second, it helps drastically improve the response rate of the servoing system due to the utilization of a high-speed inertial measurement unit. Stability of the control system is analyzed such that the error of the system is proved to be bounded. Control algorithm was simulated using Matlab Aerospace Toolbox as well as Robotics Toolbox. Then, experiments were implemented to verify the feasibility of the proposed methodology.
Starting Page	517
Ending Page	526
Page Count	10
File Format	PDF
ISSN	22347593
Journal	International Journal of Precision Engineering and Manufacturing
Volume Number	13
Issue Number	4
e-ISSN	20054602
Language	English
Publisher	Korean Society for Precision Engineering
Publisher Date	2012-04-03
Publisher Place	Springer
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Visual Servoing Visual-Inertial Servoing Inertial Sensors Feed-forward Control Mobile Harbor Industrial and Production Engineering Materials Science
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering Electrical and Electronic Engineering

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