Reference : A Pan-Tilt Camera Fuzzy Vision Controller on an Unmanned Aerial Vehicle
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/9958
A Pan-Tilt Camera Fuzzy Vision Controller on an Unmanned Aerial Vehicle
English
Olivares Mendez, Miguel Angel mailto [Universidad Politecnica de Madrid, Centro de Automatica y Robotica, Spain > Computer Vision Group]
Campoy, Pascual [Univ Politecn Madrid, Comp Vis Grp, E-28006 Madrid, Spain.]
Martinez, Carol [Universidad Politecnica de Madrid, Centro de Automatica y Robotica, Spain > Computer Vision Group]
Mondragon, Ivan [Universidad Politecnica de Madrid, Centro de Automatica y Robotica, Spain > Computer Vision Group]
2009
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
Ieee
2879-2884
Yes
978-1-4244-3803-7
New York
IEEE RSJ International Conference on Intelligent Robots and Systems
OCT 10-15, 2009
IEEE Robot & Automat Soc, Robot Soc Japan, Soc Instrument & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot
St. Louis
MO
[en] Fuzzy control ; Unmanned Aerial Vehicles ; vision servoing ; object tracking
[en] This paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an IJAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller to follow the object by moving a two axis servo-platform, regardless the UAV vibrations and movements. The two Fuzzy controllers for each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those controllers. The controllers have shown very good performances in real flights for statics objects, tested on the Colibri prototypes.
http://hdl.handle.net/10993/9958
10.1109/IROS.2009.5354576

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