Optical-Flow Based Strategies for Landing VTOL UAVs in Cluttered Environments
This paper considers the question of landing an Unmanned Aerial Vehicles (UAV) using a single monocular camera as the primary exteroceptive sensing modality. The proposed control law is based on tracking a single point feature, representing the desired landing point on a ground plane, along with optical flow computed over the full image. The bearing of the desired landing point is used as a driving term to force convergence, while the optical flow is used to provide a damping force that...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of the 19th IFAC World Congress, 2014|
|01_Rosa_Optical-Flow_Based_Strategies_2014.pdf||633.24 kB||Adobe PDF||Request a copy|
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