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

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


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
Source: Autonomous Robots
DOI: 10.1007/s10514-010-9208-x


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