Landing on a Moving Target using Image-Based Visual Servo Control

Abstract

This thesis addresses the landing problem of a Vertical Take-off and Landing (VTOL) quadrotor using image-based visual servo control. We exploit observable features on a flat target plane to derive a suitable control law. We use the image of unnormalized spherical centroid of features which contains the information of the kinematics of a VTOL quadrotor. The translational optical flow is used as velocity measurement for control. The image dynamics corresponding to the force input are dependent on the distance between the camera and the target plane. The distance between the vehicle and target remains strictly positive and the proposed control law guarantees convergence without estimating any parameter related to this unknown distance. An estimator for an unknown constant drag force is also included in the control law. Simulation and experimental results are provided to illustrate the performance of the proposed controller.