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Adaptive homography-based visual servo for micro unmanned surface vehicles

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Abstract

In this paper, a novel adaptive homography-based visual servo (AHBVS) scheme is proposed to regulate a micro unmanned surface vehicle (MUSV) to the desired pose in the presence of both unknown image depth and unmatched dynamics. By virtue of homography decomposition technique, the scaled pose errors are directly retrieved from the live and desired images which are captured by a monocular camera. On the basis of the MUSV characteristics, a completely new visual servo system is firstly derived from visual measurements including both kinematics and dynamics. Different from kinematics solutions, the dynamics-level AHBVS controllers adapting to unknown image depth and compensating unmatched dynamics are developed by incorporating backstepping technique and Lyapunov synthesis, and thereby facilitating practical implementations. Lyapunov analysis proves that the proposed AHBVS scheme renders the closed-loop visual servo system globally uniformly asymptotically stable (GUAS). Simulation results demonstrate remarkable performance on a prototype MUSV.

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Funding

This work is supported by the National Natural Science Foundation of P. R. China (under Grants 51009017 and 51379002), the Fund for Dalian Distinguished Young Scholars (under Grant 2016RJ10), the Liaoning Revitalization Talents Program (under Grant XLYC1807013), the Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory (SXJQR2018WDKT03), and the Fundamental Research Funds for the Central Universities (under Grants 3132016314 and 3132018126).

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  1. School of Marine Electrical Engineering, Dalian Maritime, University, Dalian, 116026, China

    Ning Wang & Hongkun He

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  1. Ning Wang
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  2. Hongkun He
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Correspondence to Ning Wang.

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Wang, N., He, H. Adaptive homography-based visual servo for micro unmanned surface vehicles. Int J Adv Manuf Technol 105, 4875–4882 (2019). https://doi.org/10.1007/s00170-019-03994-7

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