Abstract

In this paper, a novel image-based visual servoing (IBVS) method is proposed for the case that the servoing target randomly and slowly tilts. With the basic IBVS function and virtual camera plane method, a four-dimensional image kinematics is derived. Then a transformation based homography reconstruction method is presented to solve the problem of tilting target plane by defining a new virtual camera plane. Subsequently the IBVS control laws are designed according to the quadrotor dynamics and transformed image kinematics. Finally, simulations show the validity and priority of the new method compared with the classic dynamic IBVS method.

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