Visual servoing with dynamics: control of an unmanned blimp

Abstract

Image-based control of free-flying mechanical systemsis addressed, with application to an indoor,vision-guided blimp. A methodology is developed forperforming visual servoing by incorporating the physicalparameters of a mechanical system into the imageplane dynamics. It is noted that under suitableconditions, namely the existence of a diffeomorphismbetween image features and the robot pose, many ofthe tools from mechanical systems control theory canbe used directly when applied in the...