Reference : Vision Based Fuzzy Control Approaches for Unmanned Aerial Vehicles

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Aerospace & aeronautics engineering
	To cite this reference:	http://hdl.handle.net/10993/21542

Title :	Vision Based Fuzzy Control Approaches for Unmanned Aerial Vehicles
Language :	English
Author, co-author :	Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Campoy, Pascual [Universidad Politecnica de Madrid > Computer Vision Group]
Publication date :	Jul-2015
Main document title :	16th World Congress of the International Fuzzy Systems Association (IFSA) 9th Conference of the European Society for Fuzzy Logic and Technology (EUSFLAT)
Peer reviewed :	Yes
Audience :	International
Event name :	16th World Congress of the International Fuzzy Systems Association (IFSA) 9th Conference of the European Society for Fuzzy Logic and Technology (EUSFLAT)
Event date :	30-06-2015 to 3-07-2015
Keywords :	[en] Fuzzy logic Control ; Computer Vision ; Vision based Control ; unmanned aerial vehicles ; Autonomous Navigation
Abstract :	[en] 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.
Permalink :	http://hdl.handle.net/10993/21542

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access IFSA-EUSFLAT-2015_OlivaresMendez.pdf Publisher postprint 1.94 MB View/Open Additional material(s): File Commentary Size Access Open access autolanding_short.mp4 Autonomous landing of a helicopter with a vision based Fuzzy control (x,y,z) 1.22 MB View/Open Open access ObjectFollowing_S.mp4 Aerial object following with a vision based fuzzy control (x, yaw) 5.04 MB View/Open Open access parrotCE_Arcaa_Shortv2.mp4 Obstacle avoidance, vision based fuzzy control (yaw) 48.06 MB View/Open

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