Skip navigation
Skip navigation

A terrain-following control approach for a VTOL Unmanned Aerial Vehicle using average optical flow

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

Description

This paper presents a nonlinear controller for terrain following of a vertical take-off and landing vehicle (VTOL). The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera, IMU and barometric altimeter) maneuvering over a textured rough terrain made of a concatenation of planar surfaces. Assuming that the forward velocity is separately regulated to a desired value, the proposed control approach ensures terrain following and guarantees that the vehicle does...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Journal article
URI: http://hdl.handle.net/1885/60851
Source: Autonomous Robots
DOI: 10.1007/s10514-010-9208-x

Download

File Description SizeFormat Image
01_Herisse_A_terrain-following_control_2010.pdf1.18 MBAdobe PDF    Request a copy


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

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator