Vision-Based Robust Position Control for Ground Target Tracking and Hovering of Quadrotors

This paper proposes a position-based visual servoing controller for quadrotors to hover above and track a ground target m Global Posltionmg System demed envlronment. A vision-based position estimation system fuses the monocular camera image data, inertial measurement units data, and ultrasonic sensor data to estimate the position of the ground target relative to quadrotors. The experimental results validate the performance of the proposed robust position controller.

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