Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow
Top Cited Papers
- 12 September 2011
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 28 (1), 77-89
- https://doi.org/10.1109/tro.2011.2163435
Abstract
This paper presents a nonlinear controller for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) that exploits a measurement optical flow to enable hover and landing control on a moving platform, such as, for example, the deck of a sea-going vessel. The VTOL vehicle is assumed to be equipped with a minimum sensor suite [i.e., a camera and an inertial measurement unit (IMU)], manoeuvring over a textured flat target plane. Two different tasks are considered in this paper. The first concerns the stabilization of the vehicle relative to the moving platform that maintains a constant offset from a moving reference. The second concerns regulation of automatic vertical landing onto a moving platform. Rigorous analysis of system stability is provided, and simulations are presented. Experimental results are provided for a quadrotor UAV to demonstrate the performance of the proposed control strategy.Keywords
This publication has 26 references indexed in Scilit:
- A hierarchical controller for miniature VTOL UAVs: Design and stability analysis using singular perturbation theoryControl Engineering Practice, 2011
- Vision-based control of near-obstacle flightAutonomous Robots, 2009
- Optic flow-based vision system for autonomous 3D localization and control of small aerial vehiclesRobotics and Autonomous Systems, 2009
- Vision‐based terrain following for an unmanned rotorcraftJournal of Field Robotics, 2008
- Optic-Flow-Based Collision AvoidanceIEEE Robotics & Automation Magazine, 2008
- Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow FeaturesJournal of Dynamic Systems, Measurement, and Control, 2007
- Pitch-Altitude Control and Terrain Following Based on Bio-Inspired Visuomotor ConvergencePublished by American Institute of Aeronautics and Astronautics (AIAA) ,2005
- Optic flow regulation: the key to aircraft automatic guidanceRobotics and Autonomous Systems, 2005
- Landing Strategies in Honeybees and Applications to Uninhabited Airborne VehiclesThe International Journal of Robotics Research, 2004
- Least-squares estimation of transformation parameters between two point patternsIEEE Transactions on Pattern Analysis and Machine Intelligence, 1991