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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


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