Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow

Bruno Herisse; Francois Xavier Russotto; Tarek Hamel; Robert Mahony

doi:10.1109/IROS.2008.4650731

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow

Bruno Herisse^*, Francois Xavier Russotto, Tarek Hamel, Robert Mahony

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

149 Citations (Scopus)

Abstract

This paper presents a nonlinear controller for hovering flight and touchdown control for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns the stability of hovering flight and the second one concerns regulation of automatic landing using the divergent optical flow as feedback information. Experimental results on a quadrotor UAV demonstrate the performance of the proposed control strategy.

Original language	English
Title of host publication	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	801-806
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2008.4650731
Publication status	Published - 2008
Event	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: 22 Sept 2008 → 26 Sept 2008

Publication series

Name	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/Territory	France
City	Nice
Period	22/09/08 → 26/09/08

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10.1109/IROS.2008.4650731

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Herisse, B., Russotto, F. X., Hamel, T., & Mahony, R. (2008). Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 801-806). Article 4650731 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2008.4650731

@inproceedings{a423139e0b8244fe93c0591a9e302b62,

title = "Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow",

abstract = "This paper presents a nonlinear controller for hovering flight and touchdown control for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns the stability of hovering flight and the second one concerns regulation of automatic landing using the divergent optical flow as feedback information. Experimental results on a quadrotor UAV demonstrate the performance of the proposed control strategy.",

author = "Bruno Herisse and Russotto, {Francois Xavier} and Tarek Hamel and Robert Mahony",

year = "2008",

doi = "10.1109/IROS.2008.4650731",

language = "English",

isbn = "9781424420582",

series = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

pages = "801--806",

booktitle = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

note = "2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ; Conference date: 22-09-2008 Through 26-09-2008",

}

Herisse, B, Russotto, FX, Hamel, T & Mahony, R 2008, Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650731, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 801-806, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 22/09/08. https://doi.org/10.1109/IROS.2008.4650731

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow. / Herisse, Bruno; Russotto, Francois Xavier; Hamel, Tarek et al.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 801-806 4650731 (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow

AU - Herisse, Bruno

AU - Russotto, Francois Xavier

AU - Hamel, Tarek

AU - Mahony, Robert

PY - 2008

Y1 - 2008

N2 - This paper presents a nonlinear controller for hovering flight and touchdown control for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns the stability of hovering flight and the second one concerns regulation of automatic landing using the divergent optical flow as feedback information. Experimental results on a quadrotor UAV demonstrate the performance of the proposed control strategy.

AB - This paper presents a nonlinear controller for hovering flight and touchdown control for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns the stability of hovering flight and the second one concerns regulation of automatic landing using the divergent optical flow as feedback information. Experimental results on a quadrotor UAV demonstrate the performance of the proposed control strategy.

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U2 - 10.1109/IROS.2008.4650731

DO - 10.1109/IROS.2008.4650731

M3 - Conference contribution

SN - 9781424420582

T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

SP - 801

EP - 806

BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Y2 - 22 September 2008 through 26 September 2008

ER -

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow

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