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.
Disciplines :
Aerospace & aeronautics engineering
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)
External co-authors :
no
Language :
English
Title :
Vision Based Fuzzy Control Autonomous Landing with UAVs: From V-REP to Real Experiments
Publication date :
June 2015
Event name :
23nd IEEE Mediterranean Conference of Control and Automation (MED), 2015
Event place :
Torremolinos, Spain
Event date :
June 16th – 19th, 2015
Audience :
International
Main work title :
23nd IEEE Mediterranean Conference of Control and Automation (MED), 2015, Torremolinos 2015, Spain
