Image-Based Visual Servo Docking Control Experiment

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.