A Vision-Based Algorithm for a Path Following Problem

PubDate: Feb 2023

Teams: University of Sannio in Benevento;Czech Technical University in Prague

Writers: Mario Terlizzi, Giuseppe Silano, Luigi Russo, Muhammad Aatif, Amin Basiri, Valerio Mariani, Luigi Iannelli, Luigi Glielmo

PDF: A Vision-Based Algorithm for a Path Following Problem

Abstract

A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up an intuitive and simple control framework. A path fora quad-rotor UAV is obtained by using downward facing camera images implementing an Image-Based Visual Servoing (IBVS) approach. Numerical simulations in MATLAB together with the MathWorks Virtual Reality (VR) toolbox demonstrate the validity and the effectiveness of the proposed solution. The code is released as open-source making it possible to go through any part of the system and to replicate the obtained results.