TY - GEN
T1 - The landing problem of a VTOL unmanned aerial vehicle on a moving platform using optical flow
AU - Herisse, Bruno
AU - Hamel, Tarek
AU - Mahony, Robert
AU - Russotto, Francois Xavier
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78651487253&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5652633
DO - 10.1109/IROS.2010.5652633
M3 - Conference contribution
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1600
EP - 1605
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -