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

被引：23
|
作者：
Herisse, Bruno [1 ]
Hamel, Tarek
Mahony, Robert
Russotto, Francois-Xavier [1 ]
机构：
[1] CEA, LIST, Interact Robot Lab, F-92265 Fontenay Aux Roses, France
来源：
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词：
D O I：
10.1109/IROS.2010.5652633
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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 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.
引用
收藏
页码：1600 / 1605
页数：6
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