Article

Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow

IEEE Transactions on Robotics (impact factor: 2.54). DOI:10.1109/TRO.2011.2163435 pp.1 - 13
Source: IEEE Xplore

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.

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Keywords

automatic vertical landing
 
different tasks
 
Experimental results
 
inertial measurement unit
 
measurement optical flow
 
minimum sensor suite [i.e
 
moving platform
 
moving reference
 
paper presents
 
quadrotor UAV
 
sea-going vessel
 
second concerns regulation
 
system stability
 
textured flat target plane
 
vertical take-off
 
VTOL
 
VTOL vehicle