Reference : V-REP & ROS Testbed for Design, Test, and Tuning of a Quadrotor Vision Based Fuzzy Co...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
http://hdl.handle.net/10993/19225
V-REP & ROS Testbed for Design, Test, and Tuning of a Quadrotor Vision Based Fuzzy Control System for Autonomous Landing
English
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Kannan, Somasundar mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
Aug-2014
Porceedings of The International Micro Air Vehicle Conference and Competition 2014
Yes
International
IMAV 2014: International Micro Air Vehicle Conference and Competition 2014
August 12-15, 2014
TU Delft
Delft
The Netherlands
[en] Autonomous Landing ; Vison based control ; Fuzzy Logic Control ; Robotics Operative System ; Software-in-the-loop ; Simulation ; Unmanned Aerial Vehicles
[en] This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control system to command an Unmanned Aerial Vehicle (UAV). Here, is presented how to configure the V-REP, and ROS to work in parallel, and how to use the developed packages in ROS for the pose estimation based on vision and for the design and use of a fuzzy logic control system. It is also shown in this paper a novel vision based fuzzy control approach for the autonomous landing task on a static and on a moving platform. The control system is based on four fuzzy logic controllers (FLC) working in parallel on an external control loop based on the visual information. All the controllers were designed and tuned to command the vertical, longitudinal, lateral, and heading velocities of the UAV.
http://hdl.handle.net/10993/19225
10.4233

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