Reference : Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control |
Scientific congresses, symposiums and conference proceedings : Paper published in a book | |||
Engineering, computing & technology : Aerospace & aeronautics engineering | |||
http://hdl.handle.net/10993/10009 | |||
Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control | |
English | |
Olivares Mendez, Miguel Angel ![]() | |
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] | |
2013 | |
Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013) | |
Yes | |
International | |
Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013) | |
November 2013 | |
[en] Fuzzy control ; Autonomous vehicle ; Robot Navigation ; Extended Kalman filters ; Position estimation ; Velocity control ; Aircraft control ; Computer vision | |
[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. | |
http://hdl.handle.net/10993/10009 |
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