Precise Interception Flight Targets by Image-based Visual Servoing of Multicopter
<|reference_start|>Precise Interception Flight Targets by Image-based Visual Servoing of Multicopter: Interception of low-altitude intruding targets with low-cost drones equipped strapdown camera presents a competitive option. However, the malicious maneuvers by the non-cooperative target and the coupling of the camera make the task challenging. To solve this problem, an Image-Based Visual Servoing (IBVS) control algorithm based on proportional navigation guidance with field-of-view holding capability is designed. The proposed controller reduces the miss distance while improving the stability of the visual servo system during interception. Software-in-the-loop (SITL) simulation experiments show a 72.8% reduction in the circular error probability (CEP) compared to the most recent study. This improvement enhances interception accuracy from the decimeter to the centimeter level. Real-world experiments further validate the effectiveness of the proposed algorithm.<|reference_end|>
@article{yan2024precise,
    title={Precise Interception Flight Targets by Image-based Visual Servoing of
  Multicopter},
    author={Hailong Yan, Kun Yang, Yixiao Cheng, Zihao Wang, and Dawei Li},
    journal={arXiv preprint arXiv:2409.17497},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.17497},
    primaryClass={cs.RO}
}