Reference : Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Aerospace & aeronautics engineering
	To cite this reference:	http://hdl.handle.net/10993/10009

Title :	Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Language :	English
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]
Publication date :	2013
Main document title :	Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)
Peer reviewed :	Yes
Audience :	International
Event name :	Second Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2013)
Event date :	November 2013
Keywords :	[en] Fuzzy control ; Autonomous vehicle ; Robot Navigation ; Extended Kalman filters ; Position estimation ; Velocity control ; Aircraft control ; Computer vision
Abstract :	[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.
Permalink :	http://hdl.handle.net/10993/10009

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access autonomousLanding_REDUAS_13_finalVersion.pdf Author preprint 1.54 MB View/Open Additional material(s): File Commentary Size Access Open access autolanding_short.mp4 Autonomous landing of a helicopter with a vision based Fuzzy control (x,y,z) 1.22 MB View/Open

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