Visual servoing using fuzzy controllers on an unmanned aerial vehicle

Olivares Mendez, Miguel Angel; Campoy, Pascual; Mondragon, Ivan F.; Martinez, Carol

Reference : Visual servoing using fuzzy controllers on an unmanned aerial vehicle


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/10993/19746

Title :	Visual servoing using fuzzy controllers on an unmanned aerial vehicle
Language :	English
Author, co-author :	Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > > ; Universidad Politecnica de Madrid, Computer Vision Group]
	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]
Publication date :	Sep-2009
Main document title :	EUROFUSE 2009. workshop on on preference modelling and decision analysis
Peer reviewed :	Yes
Audience :	International
City :	Pamplona
Country :	Spain
Event name :	EUROFUSE 2009. workshop on on preference modelling and decision analysis
Event date :	September 2009
Keywords :	[en] Fuzzy Logic Control ; UAV ; UAS ; Visual Control
Abstract :	[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.
Permalink :	http://hdl.handle.net/10993/19746

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