This paper considers the problem of controlling a quadrotor to go through a window and land on a planar target, the landing pad, using an Image-Based Visual Servo (IBVS) controller that relies on sensing information from two on-board cameras and an IMU. The maneuver is divided into two stages: crossing the window and landing on the pad. For the first stage, a control law is proposed that guarantees that the vehicle will not collide with the wall containing the window and will go through the window with non-zero velocity along the direction orthogonal to the window, keeping at all times a safety distance with respect to the window edges. For the landing stage, the proposed control law ensures that the vehicle achieves a smooth touchdown, keeping at all time a positive height above the plane containing the landing pad. For control purposes, the centroid vectors provided by the combination of the spherical image measurements of a collection of landmarks (corners) for both the window and the landing pad are used as position measurement. The translational optical flow relative to the wall, window edges, and landing plane is used as velocity cue. To achieve the proposed objective, no direct measurements nor explicit estimate of position or velocity are required. Simulation and experimental results are provided to illustrate the performance of the presented controller.

本文考虑了使用基于图像的视觉伺服（IBVS）控制器来控制四旋翼飞机通过窗户并着陆在平面目标上的问题，该系统依赖于从两个车载摄像头和IMU感测到的信息。该机动分为两个阶段：越过窗户并着陆在护垫上。在第一阶段，提出了一条控制律，以确保车辆不会与包含窗户的墙壁碰撞，并且将沿着与窗户正交的方向以非零速度穿过窗户，始终保持安全距离相对于窗户边缘。对于着陆阶段，拟议的控制法则确保车辆达到平稳的着陆状态，始终保持包含着陆板的飞机上方的正高度。出于控制目的，由窗口和着陆台的一组界标（角）的球面图像测量值的组合提供的质心矢量用作位置测量值。相对于墙壁，窗户边缘和着陆平面的平移光流用作速度提示。为了实现所提出的目标，不需要直接测量或位置或速度的明确估计。提供仿真和实验结果以说明所提出控制器的性能。为了实现所提出的目标，不需要直接测量或位置或速度的明确估计。提供仿真和实验结果以说明所提出控制器的性能。为了实现所提出的目标，不需要直接测量或位置或速度的明确估计。提供仿真和实验结果以说明所提出控制器的性能。