Optical-Flow Based Strategies for Landing VTOL UAVs in Cluttered Environments

Abstract : This paper considers the question of landing an Unmanned Aerial Vehicles (UAV) using a single monocular camera as the primary exteroceptive sensing modality. The proposed control law is based on tracking a single point feature, representing the desired landing point on a ground plane, along with optical flow computed over the full image. The bearing of the desired landing point is used as a driving term to force convergence, while the optical flow is used to provide a damping force that guarantees both obstacle avoidance as well as damping the convergence of the vehicle to the ground plane ensuring a soft touchdown. A detailed analysis of the system closed-loop dynamics is undertaken and the response of the system is verified in simulation.
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Communication dans un congrès
19th World Congress. The International Federation of Automatic Control., Aug 2014, Cape Town, South Africa. IFAC proceedings volume 19th IFAC World Congress, 47, pp.3176 - 3183, 2014, 〈10.3182/20140824-6-ZA-1003.01616〉
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Lorenzo Rosa, Tarek Hamel, Robert Mahony, Claude Samson. Optical-Flow Based Strategies for Landing VTOL UAVs in Cluttered Environments. 19th World Congress. The International Federation of Automatic Control., Aug 2014, Cape Town, South Africa. IFAC proceedings volume 19th IFAC World Congress, 47, pp.3176 - 3183, 2014, 〈10.3182/20140824-6-ZA-1003.01616〉. 〈hal-01342055v2〉

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