Reference : Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
http://hdl.handle.net/10993/10009
Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
English
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Mondragon, Ivan [Pontificia Universidad Javeriana, Bogota, Colombia > Industrial Enginering Department]
Campoy, Pascual [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
2013
Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)
Yes
International
Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)
November 2013
[en] Fuzzy control ; Autonomous vehicle ; Robot Navigation ; Extended Kalman filters ; Position estimation ; Velocity control ; Aircraft control ; Computer vision
[en] This paper presents a vision based autonomous landing control approach for
unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based
on the homographies estimated of a known landmark. The translation and altitude estimation
of the helicopter against the helipad position are the only information that is used to control the
longitudinal, lateral and descend speeds of the vehicle. The control system approach consists
in three Fuzzy controllers to manage the speeds of each 3D axis of the aircraft’s coordinate
system. The 3D position estimation was proven first, comparing it with the GPS + IMU data
with very good results. The robust of the vision algorithm against occlusions was also tested.
The excellent behavior of the Fuzzy control approach using the 3D position estimation based in
homographies was proved in an outdoors test using a real unmanned helicopter.
http://hdl.handle.net/10993/10009

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autolanding_short.mp4Autonomous landing of a helicopter with a vision based Fuzzy control (x,y,z)1.22 MBView/Open

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