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

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4 Author(s)
Bruno Herisse ; CEA, LIST, Interactive Robotics Laboratory, Fontenay aux Roses, F-92265, France ; Tarek Hamel ; Robert Mahony ; Francois-Xavier Russotto

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.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010