Reference : UAS See-and-Avoid using two different approaches of 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/10993/10012

Title :	UAS See-and-Avoid using two different approaches of Fuzzy Control
Language :	English
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]
Publication date :	2012
Main document title :	2012 International Conference on Unmanned Aircraft Systems (ICUAS'12)
Peer reviewed :	Yes
Event name :	2012 International Conference on Unmanned Aircraft Systems (ICUAS'12)
Event date :	September 2012
Keywords :	[en] Unmanned Aerial Vehicles(UAVs) ; Vision control ; Fuzzy Control ; Collision avoidance ; Cross-Entropy optimization
Abstract :	[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.
Permalink :	http://hdl.handle.net/10993/10012
Framework Programme / European Project :	FP7 ; 230797 - ICPUAS - International Cooperation Program for Unmanned Aerial Systems (UAS) Research and Development (ICPUAS)

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