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A Cascaded and Adaptive Visual Predictive Control Approach for Real-Time Dynamic Visual Servoing
2022
Drones
In the past two decades, Unmanned Aerial Vehicles (UAVs) have gained attention in applications such as industrial inspection, search and rescue, mapping, and environment monitoring. However, the autonomous navigation capability of UAVs is aggravated in GPS-deprived areas such as indoors. As a result, vision-based control and guidance methods are sought. In this paper, a vision-based target-tracking problem is formulated in the form of a cascaded adaptive nonlinear Model Predictive Control (MPC)
doi:10.3390/drones6050127
fatcat:lrlzd7bd45b53ke4vzx3cnbhu4