Image-Based Visual Servo Control of a Quadrotor under Field of View Constraints Using a Pan-Tilt Camera

In this paper, we propose an image-based visual servo control scheme for precise regulation of the displacement of a quadrotor aerial vehicle with respect to a target object. A pan-tilt camera is used to partially decouple camera orientation and quadrotor maneuver to ensure holonomic dynamics of the overall system. Observable features on the target are exploited to derive an image-based visual servo control law which satisfies the field of view constraints even under coarse depth estimation. Simulation results are provided to illustrate and validate the performance of the proposed control scheme.