Bio-inspired autonomous visual vertical and horizontal control of a quadrotor unmanned aerial vehicle

Near-ground manoeuvres, such as, landing, are key elements in unmanned aerial vehicles navigation. Traditionally, these manoeuvres have been done using external reference frames to measure or estimate the velocity and the height of the vehicle. Complex near-ground manoeuvres are performed by flying animals with ease. These animals perform these complex manoeuvres using exclusively the information from their vision and vestibular system. In this paper we use the Tau theory, a visual strategy that, is believed, is used by many animals to approach objects, as a solution for relative ground distance control for unmanned vehicles. In this paper, it is shown how this approach can be used to perform near-ground manoeuvres in a vertical and horizontal manner on a moving target without the knowledge of height and velocity of either the vehicle or the target. The proposed system is tested with simulations. Here, it is shown that, using the proposed methods, the vehicle is able to perform landing on a moving target, and also they enable the user to choose the dynamic characteristics of the approach.