A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path for a quad-rotor UAV is obtained by using downward facing camera images implementing an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB® together with the MathWorks™ Virtual Reality (VR) toolbox demonstrate the validity and the effectiveness of the proposed solution. The code is released as open-source making it possible to go through any part of the system and to replicate the obtained results.
A Vision-Based Algorithm for a Path following Problem / Terlizzi, M.; Silano, G.; Russo, L.; Aatif, M.; Basiri, A.; Mariani, V.; Iannelli, L.; Glielmo, L.. - (2021), pp. 1630-1635. (Intervento presentato al convegno 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 tenutosi a Divani Caravel Hotel, grc nel 2021) [10.1109/ICUAS51884.2021.9476777].
A Vision-Based Algorithm for a Path following Problem
Iannelli L.;Glielmo L.
2021
Abstract
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path for a quad-rotor UAV is obtained by using downward facing camera images implementing an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB® together with the MathWorks™ Virtual Reality (VR) toolbox demonstrate the validity and the effectiveness of the proposed solution. The code is released as open-source making it possible to go through any part of the system and to replicate the obtained results.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
