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

Lorenzo Rosa 1 Tarek Hamel 2 Robert Mahony 3 Claude Samson 4, 2
1 DIAG - Dipartimento di Ingegneria informatica automatica e gestionale
2 UCA - Université Côte d'Azur
3 RSPE - Research School of Physics and Engineering [Canberra}
4 CRISAM - Inria Sophia Antipolis - Méditerranée
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.
Keywords : Aerial Robotics UAV VTOL visual servo control optical flow landing
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Communication dans un congrès
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Soumis le : mardi 11 octobre 2016 - 15:30:47
Dernière modification le : samedi 27 janvier 2018 - 01:32:12
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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. pp.3176 - 3183, ⟨10.3182/20140824-6-ZA-1003.01616⟩. ⟨hal-01342055v2⟩

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