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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Schlagworte: | |
| Online-Zugang: | https://arxiv.org/abs/2409.17497 |
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| _version_ | 1866909564385886208 |
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| author | Yan, Hailong Yang, Kun Cheng, Yixiao Wang, Zihao Li, Dawei |
| author_facet | Yan, Hailong Yang, Kun Cheng, Yixiao Wang, Zihao Li, Dawei |
| contents | Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional navigation guidance (PNG), reducing the multicopter's overload in the final interception phase. It combines smoother trajectories from the IBVS controller with high-frequency target 2D position estimation via a delayed Kalman filter (DKF) to minimize the impact of image processing delays on accuracy. In addition, a field-of-view (FOV) holding controller is designed for stability of the visual servo system. Experimental results show a circular error probability (CEP) of 0.089 m (72.8% lower than the latest relevant IBVS work) in simulations and over 80\% interception success under wind conditions below 4 m/s in real world. These results demonstrate the system's potential for precise low-altitude interception of non-cooperative targets. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_17497 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Precise Interception Flight Targets by Image-based Visual Servoing of Multicopter Yan, Hailong Yang, Kun Cheng, Yixiao Wang, Zihao Li, Dawei Robotics Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional navigation guidance (PNG), reducing the multicopter's overload in the final interception phase. It combines smoother trajectories from the IBVS controller with high-frequency target 2D position estimation via a delayed Kalman filter (DKF) to minimize the impact of image processing delays on accuracy. In addition, a field-of-view (FOV) holding controller is designed for stability of the visual servo system. Experimental results show a circular error probability (CEP) of 0.089 m (72.8% lower than the latest relevant IBVS work) in simulations and over 80\% interception success under wind conditions below 4 m/s in real world. These results demonstrate the system's potential for precise low-altitude interception of non-cooperative targets. |
| title | Precise Interception Flight Targets by Image-based Visual Servoing of Multicopter |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.17497 |