Paper published in a book (Scientific congresses, symposiums and conference proceedings)
NON-SYMMETRIC MEMBERSHIP FUNCTION FOR FUZZY-BASED VISUAL SERVOING ONBOARD A UAV
Olivares Mendez, Miguel Angel; Campoy, P.; Martinez, C.et al.
2010 • In Ruan, D Li, TR Xu, Y Chen, GQ Kerre, EE (Ed.) COMPUTATIONAL INTELLIGENCE: FOUNDATIONS AND APPLICATIONS: PROCEEDINGS OF THE 9TH INTERNATIONAL FLINS CONFERENCE
[en] This paper presents the definition of non-symmetric membership function for Fuzzy controllers applied to a pan & tilt vision platform onboard an Unmanned Aerial Vehicle. This improvement allows the controllers to have a more adaptive behavior to the non-linearities presented in an UAV. This implementation allows the UAV to follow objects in the environment by using Lucas-Kanade visual tracker, in spite of the aircraft vibrations, the movements of the objects and the aircraft, update has been tested in real flights with an unmanned helicopter of the Computer Vision Group at the UPM, with very successful results, attaining a considerable reduction of the error during the tracking tests.
Disciplines :
Computer science
Author, co-author :
Olivares Mendez, Miguel Angel ; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Campoy, P.; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Martinez, C.; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Mondragon B, I. F.; Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Language :
English
Title :
NON-SYMMETRIC MEMBERSHIP FUNCTION FOR FUZZY-BASED VISUAL SERVOING ONBOARD A UAV
Publication date :
August 2010
Event name :
9TH INTERNATIONAL FLINS CONFERENCE
Event date :
August 2010
Audience :
International
Main work title :
COMPUTATIONAL INTELLIGENCE: FOUNDATIONS AND APPLICATIONS: PROCEEDINGS OF THE 9TH INTERNATIONAL FLINS CONFERENCE
Editor :
Ruan, D Li, TR Xu, Y Chen, GQ Kerre, EE
Publisher :
World Scientific Publ Co Pte Ltd, Singapore, Unknown/unspecified
ISBN/EAN :
978-981-4324-69-4
Collection name :
World Scientific Proceedings Series on Computer Engineering and Information Science
