Nonlinear Visual Control of Unmanned Aerial Vehicles in GPS-Denied Environments

Abstract

In this paper, we propose a nonlinear controller that stabilizes unmanned aerial vehicles in GPS-denied environments with respect to visual targets by using only onboard sensing. The translational velocity of the vehicle is estimated online with a nonlinear observer, which exploits spherical visual features as the main source of information. With the… (More)
DOI: 10.1109/TRO.2015.2451371

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