With numerous distinct advantages, quadrotors have found a wide range of applications, such as structural inspection, traffic control, search and rescue, agricultural surveillance, etc. To better serve applications in cluttered environment, quadrotors are further equipped with vision sensors to enhance their state sensing and environment perception capabilities. Moreover, visual information can also be used to guide the motion control of the quadrotor. This is referred to as visual servoing of quadrotor. In this thesis, we identify the challenging problems arising in the area of visual servoing of the quadrotor and propose effective control strategies to address these issues.
The control objective considered in this thesis is to regulate the relative pose of the quadrotor to a ground target using a limited number of sensors, e.g., a monocular camera and an inertia measurement unit. The camera is attached underneath the center of the quadrotor and facing down. The ground target is a planar object consisting of multiple points. The image features are selected as image moments defined in a ``virtual image plane". These image features offer an image kinematics that is independent of the tilt motion of the quadrotor. This independence enables the separation of the high level visual servoing controller design from the low level attitude tracking control.
A high-gain observer-based model predictive control (MPC) scheme is proposed in this thesis to address the image-based visual servoing of the quadrotor. The high-gain observer is designed to estimate the linear velocity of the quadrotor which is part of the system states. Due to a limited number of sensors on board, the linear velocity information is not directly measurable. The high-gain observer provides the estimates of the linear velocity and delivers them to the model predictive controller. On the other hand, the model predictive controller generates the desired thrust force and yaw rate to regulate the pose of the quadrotor relative to the ground target. By using the MPC controller, the tilt motion of the quadrotor can be effectively bounded so that the scene of the ground target is well maintained in the field of view of the camera. This requirement is referred to as visibility constraint. The satisfaction of visibility constraint is a prerequisite of visual servoing of the quadrotor.
Simulation and experimental studies are performed to verify the effectiveness of the proposed control strategies. Moreover, image processing algorithms are developed to extract the image features from the captured images, as required by the experimental implementation. / Graduate / 2020-12-11
| Identifer | oai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/11396 |
| Date | 19 December 2019 |
| Creators | Sheng, Huaiyuan |
| Contributors | Shi, Yang |
| Source Sets | University of Victoria |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Format | application/pdf |
| Rights | Available to the World Wide Web |
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