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Optimal Error-Clamping Design for Position-Based Visual Servoing of a 2-DOF Model Helicopter

[+] Author Affiliations
M. Alizadeh, C. Ratanasawanya, M. Mehrandezh, R. Paranjape

University of Regina, Regina, SK, Canada

Paper No. DETC2011-48644, pp. 983-989; 7 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


A vision-based servoing technique is proposed for a 2 degrees-of-freedom (dof) model helicopter equipped with a monocular vision system. In general, these techniques can be categorized as image- and position-based, where the task error is defined in the image plane in the former and in the physical space in the latter. The 2-dof model helicopter requires a configuration-dependent feed-forward control to compensate for gravitational forces when servoing on a ground target. Therefore, a position-based visual servoing deems more appropriate for precision control. Image information collected from a ground object, with known geometry a priori, is used to calculate the desired pose of the camera and correspondingly the desired joint angles of the model helicopter. To assure a smooth servoing, the task error is parameterized, using the information obtained from the linearaized image Jacobian, and time scaled to form a moving reference trajectory. At the higher level, a Linear Quadratic Regulator (LQR), augmented with a feed-forward term and an integrator, is used to track this trajectory. The discretization of the reference trajectory is achieved by an error-clamping strategy for optimal performance. The proposed technique was tested on a 2-dof model helicopter capable of pitch and yaw maneuvers carrying a light-weight off-the-shelf video camera. The test results show that the optimized controller can servo the model helicopter to a hovering pose for an image acquisition rate of as low as 2 frames per second.

Copyright © 2011 by ASME
Topics: Design , Errors



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