Reference : Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
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/10993/9963
Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
English
Olivares Mendez, Miguel Angel mailto [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Campoy [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Martinez, Carol [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
Mondragon, Ivan [Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group]
2010
Proccedings of World Congress on Computational Intelligence (WCCI 2010)
Ieee
Yes
International
New York
2010 IEEE World Congress on Computational Intelligence
JUL 18-23, 2010
IEEE, IEEE Computat Intelligence Soc, Int Neural Network Soc, Evolut Program Soc, IET
Barcelona
SPAIN
[en] Image processing ; Fuzzy Control ; Unmanned Aerial Vehicles ; Autonomous Landing ; Vision Control
[en] This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3D-position estimation based on visual tracking of piecewise planar objects. This application allows the UAV to land on scenarios in which it is only possible to use visual information to obtain the position of the vehicle. The use of the homography permits a realtime estimation of the UAV's pose with respect to a helipad using a monocular camera. Fuzzy Logic allows the definition of a model-free control system of the UAV. The Fuzzy controller analyzes the visual information to generate altitude commands for the UAV to develop the landing task.
http://hdl.handle.net/10993/9963
978-1-4244-6920-8

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