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Aerial object following using visual fuzzy servoing
Olivares Mendez, Miguel Angel; Mondragon, Ivan; Campoy, Pascual et al.
2011In First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011)
Peer reviewed
 

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Keywords :
Visual Servoing; Object Following; Fuzzy Control; unmanned aerial vehicles (UAVs); Fuzzy Logic; Soft Computing
Abstract :
[en] 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
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
Mondragon, Ivan;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Campoy, Pascual;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Mejias, Luis;  Queensland University of Technology (QUT), Brisbane, Australia > Australian Research Centre for Aerospace Automation (ARCAA)
Martinez, Carol;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR) > Computer Vision Group
Language :
English
Title :
Aerial object following using visual fuzzy servoing
Publication date :
2011
Event name :
First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011)
Event place :
Sevilla, Spain
Event date :
December 2013
Main work title :
First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011)
Peer reviewed :
Peer reviewed
European Projects :
FP7 - 230797 - ICPUAS - International Cooperation Program for Unmanned Aerial Systems (UAS) Research and Development (ICPUAS)
Funders :
CE - Commission Européenne [BE]
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since 06 November 2013

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