Reference : Aerial object following using visual fuzzy servoing
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
http://hdl.handle.net/10993/10017
Aerial object following using visual fuzzy servoing
English
Olivares Mendez, Miguel Angel mailto [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Mondragon, Ivan [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Campoy, Pascual [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
Mejias, Luis [Queensland University of Technology (QUT), Brisbane, Australia > Australian Research Centre for Aerospace Automation (ARCAA)]
Martinez, Carol [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group]
2011
First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011)
Yes
First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011)
December 2013
Sevilla
Spain
[en] Visual Servoing ; Object Following ; Fuzzy Control ; unmanned aerial vehicles (UAVs) ; Fuzzy Logic ; Soft Computing
[en] This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial
Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive
tracking method based on the color information. A visual fuzzy system has been developed for servoing the
camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on
continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centered
on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness
of the proposed systems against winds perturbations, illumination and weather changes among others. The
obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following
and pursuit, flying in formation, as well as their use for indoor navigation
http://hdl.handle.net/10993/10017
FP7 ; 230797 - ICPUAS - International Cooperation Program for Unmanned Aerial Systems (UAS) Research and Development (ICPUAS)

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