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Type: Artigo de evento
Title: Optimal Visual Servoed Guidance Of Outdoor Autonomous Robotic Airships
Author: Silveira G.F.
Reginaldo J.
Carvalho H.
Rives P.
Azinheira J.R.
Bueno S.S.
Madrid M.K.
Abstract: This paper describes a visual servo control scheme for an outdoor autonomous airship in path following tasks. The visual based guidance takes full authority of the robotic airship and it is based on lines as image features, extracted from an on-board camera. An optimal controller is designed using the dynamic model of the system, which tackles the dynamics of the airship and the dynamics of the vision process. To prevent from losing image features during camera motion, to deal with noisy output measurements and modeling inaccuracies, a Kalman estimator was employed. The approach is validated through simulations using the AURORA project underactuated airship.
Rights: fechado
Identifier DOI: 
Date Issue: 2002
Appears in Collections:Unicamp - Artigos e Outros Documentos

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