Image-Based Visual Servo Docking Control Experiment

Runxiao Liu; Hanli Chen; Xunhua Dai; Quan Quan

doi:10.1007/978-981-95-1954-5_9

Image-Based Visual Servo Docking Control Experiment

Runxiao Liu^*
, Hanli Chen
, Xunhua Dai
, Quan Quan

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University
School of Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

Image-Based Visual Servoing (IBVS) utilizes feedback information from two-dimensional images to control or adaptively adjust the robot’s behavior. This method can be applied to achieve automatic aerial refueling docking and automatic recovery docking for micro-small fixed-wing Unmanned Aerial Vehicles (UAVs). This chapter aims to introduce IBVS control experiments, divided into four parts: a basic experiment, an analysis experiment, a design experiment, and a Hardware-In-the-Loop (HIL) experiment. In the basic experiment, readers will learn how to use IBVS to accomplish automatic aerial docking tasks. The analysis experiment will focus on the impact of key parameters in IBVS and compare the differences between IBVS and Position-Based Visual Servo (PBVS). Additionally, in the design experiment, readers will design an IBVS controller based on the upper-level control interface of fixed-wing UAVs to complete the task of automatic aerial refueling docking. Finally, a HIL experiment is conducted.

Original language	English
Title of host publication	Micro-Small Fixed-Wing UAV Control
Subtitle of host publication	Design and Practice
Publisher	Springer Nature
Pages	327-376
Number of pages	50
ISBN (Electronic)	9789819519545
ISBN (Print)	9789819519538
DOIs	https://doi.org/10.1007/978-981-95-1954-5_9
State	Published - 1 Jan 2026

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abstract = "Image-Based Visual Servoing (IBVS) utilizes feedback information from two-dimensional images to control or adaptively adjust the robot{\textquoteright}s behavior. This method can be applied to achieve automatic aerial refueling docking and automatic recovery docking for micro-small fixed-wing Unmanned Aerial Vehicles (UAVs). This chapter aims to introduce IBVS control experiments, divided into four parts: a basic experiment, an analysis experiment, a design experiment, and a Hardware-In-the-Loop (HIL) experiment. In the basic experiment, readers will learn how to use IBVS to accomplish automatic aerial docking tasks. The analysis experiment will focus on the impact of key parameters in IBVS and compare the differences between IBVS and Position-Based Visual Servo (PBVS). Additionally, in the design experiment, readers will design an IBVS controller based on the upper-level control interface of fixed-wing UAVs to complete the task of automatic aerial refueling docking. Finally, a HIL experiment is conducted.",

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Image-Based Visual Servo Docking Control Experiment

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