Skip to Main content Skip to Navigation
Conference papers

Visual servoing of an airplane for auto-landing

O. Bourquardez 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this paper, a visual servoing scheme is proposed to control an airplane during its landing. A linearized model of the airplane dynamics and decoupled visual features are used to build the control scheme. A desired trajectory which takes into account the airplane dynamic is designed. Coupling this trajectory and the control law enables the airplane to join its desired path. Then the airplane is controlled to follow the glide path, realize the flare manoeuvre and finally touchdown. Simulation results are obtained with a quite realistic flight simulator which is based on a non linear airplane dynamic model. They show that the airplane is able to land automatically by using visual data.
Document type :
Conference papers
Complete list of metadata

Cited literature [19 references]  Display  Hide  Download

https://hal.inria.fr/inria-00350637
Contributor : Eric Marchand <>
Submitted on : Wednesday, January 7, 2009 - 2:26:52 PM
Last modification on : Wednesday, June 16, 2021 - 3:41:49 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:53:45 PM

File

2007_iros_bourquardez.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00350637, version 1

Citation

O. Bourquardez, François Chaumette. Visual servoing of an airplane for auto-landing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, 2007, San Diego, CA, United States. pp.1314-1319. ⟨inria-00350637⟩

Share

Metrics

Record views

512

Files downloads

506