A nonlinear terrain-following controller for a VTOL unmanned aerial vehicle using translational optical flow.
Bruno HérisséTarek HamelRobert E. MahonyFrançois-Xavier RussottoPublished in: ICRA (2009)
Keyphrases
- unmanned aerial vehicles
- optical flow
- control algorithm
- neural network controller
- tracking control
- variable structure
- control law
- quadruped robot
- control method
- image sequences
- rigid motion
- path planning
- adaptive neural
- flow field
- control system
- closed loop
- motion parameters
- motion field
- optical flow estimation
- nonlinear systems
- adaptive control
- control scheme
- motion estimation
- control strategy
- computer vision
- pid controller
- motion model
- dynamic environments
- moving objects
- fuzzy controller
- feedback control
- digital elevation models
- multi agent systems
- background subtraction
- real time