[en] This paper presents a vision based autonomous landing control approach for
unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based
on the homographies estimated of a known landmark. The translation and altitude estimation
of the helicopter against the helipad position are the only information that is used to control the
longitudinal, lateral and descend speeds of the vehicle. The control system approach consists
in three Fuzzy controllers to manage the speeds of each 3D axis of the aircraft’s coordinate
system. The 3D position estimation was proven first, comparing it with the GPS + IMU data
with very good results. The robust of the vision algorithm against occlusions was also tested.
The excellent behavior of the Fuzzy control approach using the 3D position estimation based in
homographies was proved in an outdoors test using a real unmanned helicopter.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Olivares Mendez, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Mondragon, Ivan; Pontificia Universidad Javeriana, Bogota, Colombia > Industrial Enginering Department
Campoy, Pascual; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
External co-authors :
yes
Language :
English
Title :
Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Publication date :
2013
Event name :
Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)
Event date :
November 2013
Audience :
International
Main work title :
Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)
