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

@article{Hriss2008HoveringFA,
  title={Hovering flight and vertical landing control of a VTOL Unmanned Aerial Vehicle using optical flow},
  author={Bruno H{\'e}riss{\'e} and François-Xavier Russotto and Tarek Hamel and Robert E. Mahony},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={801-806}
}
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… CONTINUE READING

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