Vision Based Fuzzy Control Approaches for Unmanned Aerial Vehicles

This paper proposed the use of vision based Fuzzy
control approaches for autonomous navigation tasks
with Unmanned Aerial Vehicles (UAVs). It is shown
the advantages of using RGB cameras as the sensor
onboard UAVs and the advantages of using Fuzzy
logic controllers. It is explained how to set a vision
based system and how to define a Fuzzy controller
for a general control approach. A specific
software was design and used to develop and tune
general Fuzzy control approaches. The “how-to”
of this software is also explained in this paper. A
methodology to how to design, developed and tune
Vision based Fuzzy Control (VBFC) approaches in
robotics is also presented. Furthermore, it is shown
three different VBFC approaches for autonomous
navigation developed using this methodology and
software. Real experiments were done to validate
the different approaches with different vertical takeoff
and landing (VTOL) UAVs.