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Synapse
March 3, 2026Open Access

Hybrid PBVS–IBVS Modellprediktiv Visuell Servostyrning : För Autonom Dockning av en Fritt Flygande Robot

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Authors

TPTafarrel Firhannoza Pramono

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Overview

Observational analysis demonstrates improved docking accuracy in free-flying robots, suggesting advances in ARD technology.

Key Points

  • Reliable docking achieved without AR tags—only geometric fiducials were required.
  • The developed method utilizes a hybrid visual servoing approach to enhance accuracy during autonomous docking.
  • The model predictive control framework integrates depth estimation and feature dynamics for precision guidance.
  • Dynamic weighting in the control strategy improves transition between position-based and image-based techniques.

Cite This Study

Tafarrel Firhannoza Pramono (2025) studied this question.

synapsesocial.com/papers/69a7622fc6e9836116a30666https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-376614
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