Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

H. W. Ho; G. C.H.E. de Croon; E. van Kampen; Q. P. Chu; M. Mulder

doi:10.1109/TRO.2018.2817418

Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

H. W. Ho, G. C.H.E. de Croon, E. van Kampen, Q. P. Chu, M. Mulder

Control & Simulation

Research output: Contribution to journal › Article › Scientific › peer-review

24 Citations (Scopus)

Abstract

A control strategy is proposed to deal with the fundamental gain selection problem of optical flow landings. It involves detecting the height by means of an oscillating movement and setting the control gains accordingly at the start of a landing. Then, during descent, the gains are reduced exponentially, with mechanisms in place to ensure high-performance landings. Real-world experiments with a quadrotor demonstrate successful landings in both indoor and outdoor environments.

Original language	English
Pages (from-to)	508 - 516
Number of pages	9
Journal	IEEE Transactions on Robotics
Volume	34
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2018.2817418
Publication status	Published - 2018

Keywords

Aerial robotics
autonomous landing
biologically inspired robots
Biomedical optical imaging
Cameras
Delays
optical flow
Optical sensors
Robot vision systems
visual servoing

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10.1109/TRO.2018.2817418

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abstract = "A control strategy is proposed to deal with the fundamental gain selection problem of optical flow landings. It involves detecting the height by means of an oscillating movement and setting the control gains accordingly at the start of a landing. Then, during descent, the gains are reduced exponentially, with mechanisms in place to ensure high-performance landings. Real-world experiments with a quadrotor demonstrate successful landings in both indoor and outdoor environments.",

keywords = "Aerial robotics, autonomous landing, biologically inspired robots, Biomedical optical imaging, Cameras, Delays, optical flow, Optical sensors, Robot vision systems, visual servoing",

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AU - Mulder, M.

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KW - Aerial robotics

KW - autonomous landing

KW - biologically inspired robots

KW - Biomedical optical imaging

KW - Cameras

KW - Delays

KW - optical flow

KW - Optical sensors

KW - Robot vision systems

KW - visual servoing

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JF - IEEE Transactions on Robotics

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Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

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Keywords

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