By Topic

Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Bruno Herisse ; CEA/List, Fontenay-Aux-Roses, France ; Francois-Xavier Russotto ; Tarek Hamel ; Robert Mahony

This paper presents a nonlinear controller for hovering flight and touchdown control for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) using inertial optical flow. The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU), manoeuvring over a textured flat target plane. Two different tasks are considered in this paper: the first concerns the stability of hovering flight and the second one concerns regulation of automatic landing using the divergent optical flow as feedback information. Experimental results on a quad-rotor UAV demonstrate the performance of the proposed control strategy.

Published in:

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

22-26 Sept. 2008