A nonlinear terrain-following controller for a VTOL Unmanned Aerial Vehicle using translational optical flow

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 3251-3257

  Herisse, Bruno ^a   Hamel, Tarek ^b   Mahony, Robert ^c   Russotto, Francois Xavier ^a  

^a INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

^b UNIVERSITY OF NICE SOPHIA ANTIPOLIS   (France)

^c AUSTRALIAN NATIONAL UNIVERSITY   (Australia)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; AIRCRAFT CONTROL; AIRCRAFT LANDING; ANTENNAS; CAMERAS; CLOSED LOOP SYSTEMS; CONTROLLERS; LANDFORMS; MANEUVERABILITY; NONLINEAR OPTICS; OPTICAL FLOWS; TEXTURES; UNMANNED AERIAL VEHICLES (UAV);

CONTROL APPROACH; FORWARD VELOCITY; NON-LINEAR CONTROLLERS; OBSERVATION POINT; PLANAR SURFACE; QUAD-ROTOR UAV; TERRAIN FOLLOWING; VERTICAL TAKE-OFF AND LANDINGS;

VTOL/STOL AIRCRAFT;

EID: 79960725597     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152295     Document Type: Conference Paper

References (24)

1. O. Shakernia, Y. Ma, T. J. Koo, and S. Sastry, "Landing an unmanned air vehicle: vision based motion estimation and nonlinear control," Asian Journal of Control, vol. 1, no. 3, pp. 128-146, 1999.
2. T. Hamel and R. Mahony, "Visual servoing of an under-actuated dynamic rigid-body system: An image based approach," IEEE Transactions on Robotics, vol. 18, no. 2, pp. 187-198, 2002.
3. E. Altug, J. Ostrowski, and R. Mahony, "Control of a quadrotor helicopter using visual feedback," in Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, Virginia, June 2002.
4. S. Saripalli, J. Montgomery, and G. Sakhatme, "Vision based autonomous landing of an unmanned aerial vehicle," in Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, Virginia, June 2002.
5. R. Mahony, P. Corke, and T. Hamel, "Dynamic image-based visual servo control using centroid and optic flow features," Journal of Dynamic Systems Measurement and Control, vol. 130, no. 1, 011005, 2008.
6. M. Srinivasan, S. Zhang, J. S. Chahl, E. Barth, and S. Venkatesh, "How honeybees make grazing landings on flat surfaces," Biological Cybernetics, vol. 83, p. 171183, 2000.
7. D. N. Lee, "A theory of visual control of braking based on information about time to collision," Perception, vol. 5(4), pp. 437-459, 1976.
8. J.-C. Zufferey and D. Floreano, "Fly-inspired Visual Steering of an Ultralight Indoor Aircraft," IEEE Transactions on Robotics, vol. 22, no. 1, pp. 137-146, 2006. [Online]. Available: http://phd.zuff.info
9. L. Muratet, S. Doncieux, Y. Briere, and J.-A. Meyer, "A contribution to vision-based autonomous helicopter flight in urban environments," Robotics and Autonomous Systems, vol. 50, no. 4, pp. 195-209, 2005.
10. J. S. Chahl, M. V. Srinivasan, and S. W. Zhang, "Landing strategies in honeybees and applications to uninhabited airborne vehicles," The International Journal of Robotics Research, vol. 23, no. 2, pp. 101-110, 2004.
11. F. Ruffier and N. Franceschini, "Visually guided micro-aerial vehicle: automatic take off, terrain following, landing and wind reaction," in Proceedings of international conference on robotics and automation, LA, New Orleans, April 2004.
12. J. S. Humbert, R. M. Murray, and M. H. Dickinson, "Pitch-altitude control and terrain following based on bio-inspired visuomotor convergence," in AIAA Conference on Guidance, Navigation and Control, San Francisco, CA, 2005.
13. F. Ruffier and N. Franceschini, "Optic flow regulation: the key to aircraft automatic guidance," Robotics and Autonomous Systems, vol. 50, pp. 177-194, 2005.
14. S. Bertrand, T. Hamel, and H. Piet-Lahanier, "Stability analysis of an uav controller using singular perturbation theory," in Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 2008.
15. R. Mahony and T. Hamel, "Robust trajectory tracking for a scale model autonomous helicopter," International Journal of Non-linear and Robust Control, vol. 14, pp. 1035-1059, 2004.
16. R. Vassallo, J. Santos-Victor, and H. Schneebeli, "A general approach for egomotion estimation with omnidirectional images," in OMNIVIS'02, Copenhagen, Denmark, June 2002.
17. J. Koenderink and A. van Doorn, "Facts on optic flow," Biol. Cybern., vol. 56, pp. 247-254, 1987.
18. J. L. Barron, D. J. Fleet, and S. S. Beauchemin, "Performance of optical flow techniques," International Journal of Computer Vision, vol. 12, no. 1, pp. 43-77, 1994.
19. N. Metni, J. Pflimlin, T. Hamel, and P. Souares, "Attitude and gyro bias estimation for a flying uav," in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Edmonton, Canada, 2005.
20. N. Guenard, "Optimisation et implémentation de lois de commande embarquées pour la téléopration intuitive de micro drones aériens "x4-flyer"," Ph.D. dissertation, université Nice Sophia Antipolis, 2007.
21. B. Lucas and T. Kanade, "An iterative image registration technique with an application to stereo vision," in Proceedings of the Seventh International Joint Conference on Artificial Intelligence, Vancouver, 1981, pp. 674-679.
22. S. Umeyama, "Least-squares estimation of transformation parameters between two point patterns," IEEE Trans. PAMI, vol. 13, no. 4, pp. 376-380, 1991.
23. N. Guenard, T. Hamel, and R. Mahony, "A practical visual servo control for an unmanned aerial vehicle," IEEE Transactions on Robotics, vol. 24, pp. 331-340, 2008.
24. N. Guenard, T. Hamel, V. Moreau, and R. Mahony, "Design of a controller allowed the intuitive control of an x4-flyer," in SYROCO'06, University of Bologna, Italy, 2006.