Aerial object following using visual fuzzy servoing

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial
Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive
tracking method based on the color information. A visual fuzzy system has been developed for servoing the
camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on
continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centered
on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness
of the proposed systems against winds perturbations, illumination and weather changes among others. The
obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following
and pursuit, flying in formation, as well as their use for indoor navigation