The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow
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Herisse, Bruno
Hamel, Tarek
Mahony, Robert
Russotto, Francois-Xavier
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IEEE Robotics and Automation Society
Abstract
This paper presents a nonlinear controller for hovering flight and landing control on a moving platform for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) by exploiting the measurement of the average optical flow. The VTOL vehicle is assumed to be equipped with a minimum sensor suite (a camera and an IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first one concerns the stability of hovering flight and the second one concerns regulation of automatic vertical landing on a moving platform using the divergent optical flow as feedback information. Simulation and experimental results performed on a quad-rotor UAV demonstrate the performance of the proposed control strategy.
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Proceedings
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2037-12-31