Simultaneously multi-UAV mapping and control with visual servoing

In this article, we proposed a framework to realize vision based multi-UAV cooperative mapping and control with image based visual servoing (IBVS). Equipped with a camera on each UAV platform respecitively, the multi-UAV system with overlapping camera field of view (FOV) can achieve ground mapping and formation cooperatively by image information interaction. Initially, we introduce the Multi-UAV system and the related geometry frames. Then the system functions are described in two parallel aspects. On the formation control aspect, we introduce the visual servoing feature with SIFT moment. A visual servoing controller is utilized to guide SUAV to track the desired feature given by MUAV so as to realize the formation flying. On the mapping aspect, two mapping modes, maximum combined filed of view (CFOV) and maximum Overlapping field of view (OFOV) are designed and different desired feature generation methods are proposed. In the end, simulations are carried out on both mapping mode to demonstrate the feasibility of proposed formation control and mapping method.

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