[en] This work presents two UAS See and Avoid
approaches using Fuzzy Control. We compare the performance
of each controller when a Cross-Entropy method is applied
to optimase the parameters for one of the controllers. Each
controller receive information from an image processing frontend
that detect and track targets in the environment. Visual
information is then used under a visual servoing approach to
perform autonomous avoidance. Experimental flight trials using
a small quadrotor were performed to validate and compare the
behaviour of both controllers.
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
Olivares Mendez, Miguel Angel ; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Mejias, Luis; Queensland University of Technology (QUT) > Australian Research Center for Aerospace Automation (ARCAA)
Campoy, Pascual; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Mellado-Bataller, Ignacio; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Mondragon, Ivan; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Language :
English
Title :
UAS See-and-Avoid using two different approaches of Fuzzy Control
Publication date :
2012
Event name :
2012 International Conference on Unmanned Aircraft Systems (ICUAS'12)
Event date :
September 2012
Main work title :
2012 International Conference on Unmanned Aircraft Systems (ICUAS'12)
Peer reviewed :
Peer reviewed
European Projects :
FP7 - 230797 - ICPUAS - International Cooperation Program for Unmanned Aerial Systems (UAS) Research and Development (ICPUAS)