Reference : Vision Based Fuzzy Control Autonomous Landing with UAVs: From V-REP to Real Experiments

	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/10993/21545

Title :	Vision Based Fuzzy Control Autonomous Landing with UAVs: From V-REP to Real Experiments
Language :	English
Author, co-author :	Olivares Mendez, Miguel Angel [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
	Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
Publication date :	Jun-2015
Main document title :	23nd IEEE Mediterranean Conference of Control and Automation (MED), 2015, Torremolinos 2015, Spain
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	23nd IEEE Mediterranean Conference of Control and Automation (MED), 2015
Event date :	June 16th – 19th, 2015
Event place (city) :	Torremolinos
Event country :	Spain
Keywords :	[en] Unmanned Aerial Vehicles ; Fuzzy control ; Vision based Control ; autonomous navigation
Abstract :	[en] This paper is focused on the design of a vision based control approach for the autonomous landing task of Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs). Here is presented the setup of a simulated environment developed in V-REP connected to ROS, and its uses for tuning a vision based control approach. In this work, a Fuzzy control approach was proposed to command the UAV’s vertical, longitudinal, lateral and orientation velocities. The UAV’s pose estimation was done based on a vision algorithm and the knowledge of the landing target. Real experiments with a quadrotor landing in a moving platform are also presented.
Permalink :	http://hdl.handle.net/10993/21545

	File(s) associated to this reference
	Fulltext file(s): File Commentary Version Size Access Open access MED15_OlivaresMendez _preprint.pdf Author preprint 3.29 MB View/Open Additional material(s): File Commentary Size Access Open access trackingMovingObjectTest1.mp4 1. Tracking of a moving target (x,y, z, yaw) 41.63 MB View/Open Open access trackingMovingObjectTest2.mp4 2. Tracking of a moving target (x,y, z, yaw) 26.46 MB View/Open Open access LandingMovingObjectTest1.mp4 1. Landing on a moving target (x,y, z, yaw) 25.67 MB View/Open Open access LandingMovingObjectTest2.mp4 2. Landing on a moving target (x,y, z, yaw) 34.63 MB View/Open

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