@inproceedings{6c6f471c458d4293afdf376745142355,
title = "Visual servo tracking control of quadrotor with a cable suspended load",
abstract = "To follow a moving target, the visual servo control of a quadrotor with a cable suspended load is proposed. A monocular camera with rotation degree along y axis is equipped on the quadrotor. The dynamic model for the whole system is presented to design target tracking controller. An image based visual servoing controller is proposed to provide position and yaw reference information for the quadrotor control, when the quadrotor is too far away from target. OpenTLD is used to provide the visual feedback information for visual servoing. When the quadrotor is close enough to the target, the AprilTag technology is applied to provide the pose information for position control. Based on the dynamic model and the reference information from the visual servoing or AprilTag, a quadrotor-load PD controller is presented. Finally, simulation results are presented to illustrate the effectiveness of the proposed approaches.",
keywords = "Suspended load, Target tracking control, UAV, Visual servoing",
author = "Erping Jia and Haoyao Chen and Yanjie Li and Yunjiang Lou and Yunhui Liu",
note = "Publisher Copyright: {\textcopyright} 2017, Springer International Publishing AG.; 11th International Conference on Computer Vision Systems, ICVS 2017 ; Conference date: 10-07-2017 Through 13-07-2017",
year = "2017",
doi = "10.1007/978-3-319-68345-4\_7",
language = "英语",
isbn = "9783319683447",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "72--85",
editor = "Markus Vincze and Haoyao Chen and Ming Liu",
booktitle = "Computer Vision Systems - 11th International Conference, ICVS 2017, Revised Selected Papers",
address = "德国",
}