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

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

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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]

dc.contributor.authorHerisse, Bruno
dc.contributor.authorHamel, Tarek
dc.contributor.authorMahony, Robert
dc.contributor.authorRussotto, Francois-Xavier
dc.coverage.spatialTaipei China
dc.date.accessioned2015-12-10T22:58:31Z
dc.date.createdOctober 18-22 2010
dc.identifier.urihttp://hdl.handle.net/1885/60892
dc.description.abstractThis 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 one concerns regulation of automatic vertical landing on a moving platform using the divergent optical flow as feedback information. Simulation and experimental results performed on a quad-rotor UAV demonstrate the performance of the proposed control strategy.
dc.publisherIEEE Robotics and Automation Society
dc.relation.ispartofseriesIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
dc.sourceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) Proceedings
dc.subjectKeywords: Control strategies; Feed back information; Landing control; Landing problems; Moving platform; Non-linear controllers; Sensor suite; Target plane; Vertical landing; Vertical take-off and landings; VTOL vehicle; Feedback; Intelligent robots; Landing; Optic
dc.titleThe landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2010
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationu4334215xPUB571
local.type.statusPublished Version
local.contributor.affiliationHerisse, Bruno, Commissariat a l Energie Atomique
local.contributor.affiliationHamel, Tarek, Nice Sophia Antipolis University
local.contributor.affiliationMahony, Robert, College of Engineering and Computer Science, ANU
local.contributor.affiliationRussotto, Francois-Xavier, French Atomic Energy Commission (CEA)
local.description.embargo2037-12-31
local.bibliographicCitation.startpage1600
local.bibliographicCitation.lastpage1605
local.identifier.doi10.1109/IROS.2010.5652633
local.identifier.absseo970110 - Expanding Knowledge in Technology
local.identifier.absseo970108 - Expanding Knowledge in the Information and Computing Sciences
dc.date.updated2016-02-24T11:02:01Z
local.identifier.scopusID2-s2.0-78651487253
CollectionsANU Research Publications

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