Unmanned Aerial Vehicles; Fuzzy control; Vision based Control; autonomous navigation
Résumé :
[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 :
Ingénierie aérospatiale
Auteur, co-auteur :
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)
Co-auteurs externes :
no
Langue du document :
Anglais
Titre :
Vision Based Fuzzy Control Autonomous Landing with UAVs: From V-REP to Real Experiments
Date de publication/diffusion :
juin 2015
Nom de la manifestation :
23nd IEEE Mediterranean Conference of Control and Automation (MED), 2015
Lieu de la manifestation :
Torremolinos, Espagne
Date de la manifestation :
June 16th – 19th, 2015
Manifestation à portée :
International
Titre de l'ouvrage principal :
23nd IEEE Mediterranean Conference of Control and Automation (MED), 2015, Torremolinos 2015, Spain
