Communication publiée dans un ouvrage (Colloques, congrès, conférences scientifiques et actes)
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 :
Sciences informatiques
Auteur, co-auteur :
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
Langue du document :
Anglais
Titre :
NON-SYMMETRIC MEMBERSHIP FUNCTION FOR FUZZY-BASED VISUAL SERVOING ONBOARD A UAV
Date de publication/diffusion :
août 2010
Nom de la manifestation :
9TH INTERNATIONAL FLINS CONFERENCE
Date de la manifestation :
August 2010
Manifestation à portée :
International
Titre de l'ouvrage principal :
COMPUTATIONAL INTELLIGENCE: FOUNDATIONS AND APPLICATIONS: PROCEEDINGS OF THE 9TH INTERNATIONAL FLINS CONFERENCE
Editeur scientifique :
Ruan, D Li, TR Xu, Y Chen, GQ Kerre, EE
Maison d'édition :
World Scientific Publ Co Pte Ltd, Singapore, Inconnu/non spécifié
ISBN/EAN :
978-981-4324-69-4
Collection et n° de collection :
World Scientific Proceedings Series on Computer Engineering and Information Science
