The DOI matches its Crossref record; 22 of the 22 references it cites were found in a registry or an index.
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow
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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Citations
Cites
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Performance of optical flow techniques
Barron, J. L., Fleet, D. J., & Beauchemin, S. S. (1994) · International Journal of Computer Vision · doi:10.1007/bf01420984 · Cited by 4,305
Least-squares estimation of transformation parameters between two point patterns
Umeyama, S. (1991) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.88573 · Cited by 2,420
Advances in Unmanned Aerial Vehicles
Valavanis, K. P. (2007) · Springer eBooks · doi:10.1007/978-1-4020-6114-1 · Cited by 547
Visually guided landing of an unmanned aerial vehicle
Saripalli, S., Montgomery, J. F., & Sukhatme, G. S. (2003) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2003.810239 · Cited by 504
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Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
Hamel, T., & Mahony, R. (2002) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2002.999647 · Cited by 308
Self-citationOptic flow-based vision system for autonomous 3D localization and control of small aerial vehicles
Kendoul, F., Fantoni, I., & Nonami, K. (2009) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2009.02.001 · Cited by 256
How honeybees make grazing landings on flat surfaces
Srinivasan, M. V., Zhang, S. W., Chahl, J. S., Barth, E., & Venkatesh, S. (2000) · Biological Cybernetics · doi:10.1007/s004220000162 · Cited by 240
Autonomous vertical landing on an oscillating platform: an internal-model based approach
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Cited by
A survey on vision-based UAV navigation
Lu, Y., Xue, Z., Xia, G.-S., & Zhang, L. (2018) · Geo-spatial Information Science · doi:10.1080/10095020.2017.1420509 · Cited by 448
Vision-Based Navigation Techniques for Unmanned Aerial Vehicles: Review and Challenges
Arafat, M. Y., Alam, M. M., & Moh, S. (2023) · Drones · doi:10.3390/drones7020089 · Cited by 319
Survey of computer vision algorithms and applications for unmanned aerial vehicles
Al-Kaff, A., Martín, D., García, F., Escalera, A. D. L., & María Armingol, J. (2018) · Expert Systems with Applications · doi:10.1016/j.eswa.2017.09.033 · Cited by 246
Metadata
- Authors
- Herissé, B., Hamel, T., Mahony, R., & Russotto, F.-X.
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-02
- Volume
- 28
- Issue
- 1
- Pages
- 77-89
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W1974535681
- Cited by
- 347
- References
- 22
- FWCI
- 41.81
- Type
- journal article
- Language
- en
- Open access
- closed
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
