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Optical-Flow Based Strategies for Landing VTOL UAVs in Cluttered Environments

Rosa, Lorenzo; Hamel, Tarek; Mahony, Robert; Samson, C


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]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Proceedings of the 19th IFAC World Congress, 2014
DOI: 10.3182/20140824-6-ZA-1003.01616


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