Herisse, Bruno; Hamel, Tarek; Mahony, Robert; Russotto, Francois-Xavier
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]
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.