Reference : Visual servoing using fuzzy controllers on an unmanned aerial vehicle |
Scientific congresses, symposiums and conference proceedings : Paper published in a book | |||
Engineering, computing & technology : Computer science | |||
http://hdl.handle.net/10993/19746 | |||
Visual servoing using fuzzy controllers on an unmanned aerial vehicle | |
English | |
Olivares Mendez, Miguel Angel ![]() | |
Campoy, Pascual [Universidad Politecnica de Madrid, Computer Vision Group] | |
Mondragon, Ivan F. [Universidad Politecnica de Madrid, Computer Vision Group] | |
Martinez, Carol [Universidad Politecnica de Madrid, Computer Vision Group] | |
Sep-2009 | |
EUROFUSE 2009. workshop on on preference modelling and decision analysis | |
Yes | |
International | |
Pamplona | |
Spain | |
EUROFUSE 2009. workshop on on preference modelling and decision analysis | |
September 2009 | |
[en] Fuzzy Logic Control ; UAV ; UAS ; Visual Control | |
[en] This paper presents an implementa-
tion of three Fuzzy Logic controllers working in parallel onboard a UAV, two for a pan-tilt camera platform and the third for control the yaw of the helicopter. This implementation uses a Lucas-Kanade tracker algo- rithm with a pyramidal optical ow implementation, which gives infor- mation to follow statics and moving objects, besides the UAV vibrations and movements. The platform con- troller is helped by the heading con- troller, in order to make smooth the big movements to the platform, re- ducing the risk of lost the warp selec- tion of the object to track. Also, the heading control remove the physic limit of the platform at the yaw axis. Some laboratory and UAV tests are presented in order to show the differ- ent behaviors and the good response of the presented controllers. | |
http://hdl.handle.net/10993/19746 |
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