Reference : NON-SYMMETRIC MEMBERSHIP FUNCTION FOR FUZZY-BASED VISUAL SERVOING ONBOARD A UAV
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/9959
NON-SYMMETRIC MEMBERSHIP FUNCTION FOR FUZZY-BASED VISUAL SERVOING ONBOARD A UAV
English
Olivares Mendez, Miguel Angel mailto [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Campoy, P. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Martinez, C. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Mondragon B, I. F. [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Aug-2010
COMPUTATIONAL INTELLIGENCE: FOUNDATIONS AND APPLICATIONS: PROCEEDINGS OF THE 9TH INTERNATIONAL FLINS CONFERENCE
Ruan, D Li, TR Xu, Y Chen, GQ Kerre, EE
World Scientific Publ Co Pte Ltd
World Scientific Proceedings Series on Computer Engineering and Information Science
300-307
Yes
International
978-981-4324-69-4
Singapore
9TH INTERNATIONAL FLINS CONFERENCE
August 2010
[en] Unmanned Aerial Vehicles ; Non-Symmetric membership function ; Fuzzy Control ; Visual servoing ; pan-tilt visual platform
[en] This paper presents the definition of non-symmetric membership function for Fuzzy controllers applied to a pan & tilt vision platform onboard an Unmanned Aerial Vehicle. This improvement allows the controllers to have a more adaptive behavior to the non-linearities presented in an UAV. This implementation allows the UAV to follow objects in the environment by using Lucas-Kanade visual tracker, in spite of the aircraft vibrations, the movements of the objects and the aircraft, update has been tested in real flights with an unmanned helicopter of the Computer Vision Group at the UPM, with very successful results, attaining a considerable reduction of the error during the tracking tests.
http://hdl.handle.net/10993/9959

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