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A general optical flow based terrain-following strategy for a VTOL UAV using multiple views

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


This paper presents a general approach for terrain following (including obstacle avoidance) of a vertical take-off and landing vehicle (VTOL) using multiple observation points. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera, IMU and barometric altimeter), manoeuvering over a textured rough terrain made of a concatenation of planar surfaces. Assuming that the forward velocity is separately regulated to a desired non-zero value, the proposed control...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
Source: Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2010)
DOI: 10.1109/ROBOT.2010.5509536


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