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The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow

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

Description

This paper presents a nonlinear controller for hovering flight and landing control on a moving platform for a Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) by exploiting the measurement of the average optical flow. The VTOL vehicle is assumed to be equipped with a minimum sensor suite (a camera and an IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first one concerns the stability of hovering flight and the second...[Show more]

CollectionsANU Research Publications
Date published: 2010
Type: Conference paper
URI: http://hdl.handle.net/1885/60892
Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Proceedings
DOI: 10.1109/IROS.2010.5652633

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