Paper Info
Title
Optic flow-based nonlinear control and sub-optimal guidance for lunar landing
Abstract
A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite (including OF sensors and an IMU). Two different tasks are addressed in this paper: the first one focuses on the computation of an optimal trajectory and the associated control sequences, and the second one focuses on the design and theoretical stability analysis of the closed loop using only OF and IMU measurements as feedback information. Simulations performed on a lunar landing scenario confirm the excellent performances and the robustness to initial uncertainties of the present guidance and control strategy.
Year
DOI
Venue
2014
10.1109/ROBIO.2014.7090503
Robotics and Biomimetics
Keywords
Field
DocType
closed loop systems,entry, descent and landing (spacecraft),image motion analysis,image sensors,image sequences,nonlinear control systems,space vehicles,stability,suboptimal control,IMU measurement,OF cues,OF measurement,OF sensors,associated control sequences,closed loop,minimalistic bioinspired visual motion sensors,minimum sensor suite,optic flow cues,optic flow-based nonlinear control,optimal trajectory,soft lunar landing,suboptimal guidance,theoretical stability analysis
Optimal control,Control theory,Nonlinear control,Sensor fusion,Robustness (computer science),Control engineering,Inertial measurement unit,Moon landing,Engineering,Trajectory,Computation
Conference
Citations 
PageRank 
References 
0
0.34
10
Authors
4
Name
Order
Citations
PageRank
Guillaume Sabiron171.58
Laurent Burlion26913.81
Thibaut Raharijaona3164.51
Franck Ruffier415317.24