Skip navigation
Skip navigation

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using Optical Flow

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


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...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)
DOI: 10.1109/IROS.2008.4650731


File Description SizeFormat Image
01_Mahony_Hovering_flight_and_vertical_2008.pdf238.62 kBAdobe PDF    Request a copy
02_Mahony_Hovering_flight_and_vertical_2008.pdf59.99 kBAdobe PDF    Request a copy

Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  20 July 2017/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator