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Landing a VTOL unmanned aerial vehicle on a moving platform using optical flow

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


This paper presents a nonlinear controller for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) that exploits a measurement optical flow to enable hover and landing control on a moving platform, such as, for example, the deck of a sea-going vessel. The VTOL vehicle is assumed to be equipped with a minimum sensor suite [i.e., a camera and an inertial measurement unit (IMU)], manoeuvring over a textured flat target plane. Two different tasks are considered in this paper. The...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: IEEE Transactions on Robotics
DOI: 10.1109/TRO.2011.2163435


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