Reference : Visual servoing using fuzzy controllers on an unmanned aerial vehicle
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/19746
Visual servoing using fuzzy controllers on an unmanned aerial vehicle
English
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > > ; Universidad Politecnica de Madrid, Computer Vision Group]
Campoy, Pascual [Universidad Politecnica de Madrid, Computer Vision Group]
Mondragon, Ivan F. [Universidad Politecnica de Madrid, Computer Vision Group]
Martinez, Carol [Universidad Politecnica de Madrid, Computer Vision Group]
Sep-2009
EUROFUSE 2009. workshop on on preference modelling and decision analysis
Yes
International
Pamplona
Spain
EUROFUSE 2009. workshop on on preference modelling and decision analysis
September 2009
[en] Fuzzy Logic Control ; UAV ; UAS ; Visual Control
[en] This paper presents an implementa-
tion of three Fuzzy Logic controllers
working in parallel onboard a UAV,
two for a pan-tilt camera platform
and the third for control the yaw of
the helicopter. This implementation
uses a Lucas-Kanade tracker algo-
rithm with a pyramidal optical
ow
implementation, which gives infor-
mation to follow statics and moving
objects, besides the UAV vibrations
and movements. The platform con-
troller is helped by the heading con-
troller, in order to make smooth the
big movements to the platform, re-
ducing the risk of lost the warp selec-
tion of the object to track. Also, the
heading control remove the physic
limit of the platform at the yaw axis.
Some laboratory and UAV tests are
presented in order to show the differ-
ent behaviors and the good response
of the presented controllers.
http://hdl.handle.net/10993/19746

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