Approach maneuvers for autonomous landing using visual servo control

Florent Le Bras, Tarek Hamel, Robert Mahony, Christian Barat, Julien Thadasack

    Research output: Contribution to journalArticlepeer-review

    20 Citations (Scopus)


    A nonlinear image-based visual servo control algorithm for autonomous landing of a fixed wing aircraft is described. The primary sensor system is a vision sensor yielding a sequence of images from which 2D linear and point features of the runway are extracted. The first two phases of a landing maneuver, alignment to the runway and glide (descent to the runway) are treated in the work presented here. The final landing maneuvers, flare to touchdown, and taxiing require additional sensor modalities and are not treated. The proposed control scheme deals with unknown wind conditions and incorporates the full nonlinear dynamics of the airplane. Simulation results based on realistic environmental conditions and measurement noise are presented that validate the control design approach.

    Original languageEnglish
    Article number6850139
    Pages (from-to)1051-1065
    Number of pages15
    JournalIEEE Transactions on Aerospace and Electronic Systems
    Issue number2
    Publication statusPublished - Apr 2014


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