A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow

@article{Hriss2009ANT,
  title={A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow},
  author={Bruno H{\'e}riss{\'e} and Tarek Hamel and Robert E. Mahony and François-Xavier Russotto},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={3251-3257}
}
This paper presents a nonlinear controller for terrain following of a vertical take-off and landing vehicle (VTOL). The VTOL vehicle is assumed to be a rigid body, equipped with a minimum sensor suite (camera and IMU) along with a measure of the forward speed from another sensor such as global positioning system, maneuvering over a textured terrain made of planar surfaces. Assuming that the forward velocity is separately set to a desired value, the proposed control approach ensures terrain… CONTINUE READING

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