Visual Servoing of a UGV from a UAV using Differential Flatness

Rahul Rao, University of Pennsylvania
R. Vijay Kumar, University of Pennsylvania
Camillo J. Taylor, University of Pennsylvania

Article comments

Copyright 2003 IEEE. Reprinted from Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Sytems (IROS 2003), Volume 1, pages 743-748.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27983&page=8

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Abstract

In this paper the problem of controlling the motion of a nonholonomic vehicle along a desired trajectory using observations from an overhead camera is considered. The control problem is formulated in the image plane. We show that the system in the image plane is differentially flat and use this property to generate effective control strategies using only visual feedback. Simulation results illustrate the methodology and show robustness to errors in the camera calibration parameters.