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

@article{Hriss2010TheLP,
  title={The landing problem of a VTOL Unmanned Aerial Vehicle on a moving platform using optical flow},
  author={Bruno H{\'e}riss{\'e} and Tarek Hamel and Robert E. Mahony and François-Xavier Russotto},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2010},
  pages={1600-1605}
}
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… CONTINUE READING

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