Design and Verification of 2DOF Visual Servo Control for Target-Pointing Task

The vision-based servo control solution begins to attract more attention due to its flexibility and reliability of the system. We address the controller synthesis problem under visual information feedback for the target-pointing task of a 2-DOF turntable. An improved SSD (Single Shot MultiBox Detector) based on ResNet50 network is proposed to detect the quadrotor target. The linear quadratic regulator is designed to ensure the laser beam can asymptotically point at the UAV target. We use image-based visual servo (IBVS) to track the target in two-dimensional image space and generate angular rate commands for the bottom rate-control-loop. A joint simulation platform is constructed by MATLAB and Unreal Engine 4 to create a virtual task scene for algorithm verification. Finally, the performance of the designed controller is evaluated.