Adaptive Gain Control Strategy for Constant Optical Flow Divergence Landing

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.