A Vision-Based Algorithm for a Path Following Problem

TL;DR

This paper introduces a vision-based control algorithm for UAV path following using image-based visual servoing, validated through simulations and open-source code for replication.

Contribution

It presents a novel, prize-winning algorithm utilizing IBVS for UAV path following, combining simplicity and effectiveness in a new control framework.

Findings

Successful simulation validation in MATLAB and VR

Open-source code availability facilitates replication

Effective path following demonstrated in simulated environment

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.