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Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
Olivares Mendez, Miguel Angel; Campoy; Martinez, Carol et al.
2010In Proccedings of World Congress on Computational Intelligence (WCCI 2010)
Peer reviewed
 

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Keywords :
Image processing; Fuzzy Control; Unmanned Aerial Vehicles; Autonomous Landing; Vision Control
Abstract :
[en] This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3D-position estimation based on visual tracking of piecewise planar objects. This application allows the UAV to land on scenarios in which it is only possible to use visual information to obtain the position of the vehicle. The use of the homography permits a realtime estimation of the UAV's pose with respect to a helipad using a monocular camera. Fuzzy Logic allows the definition of a model-free control system of the UAV. The Fuzzy controller analyzes the visual information to generate altitude commands for the UAV to develop the landing task.
Disciplines :
Computer science
Electrical & electronics engineering
Author, co-author :
Olivares Mendez, Miguel Angel ;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Campoy;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Martinez, Carol;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Mondragon, Ivan;  Universidad Politecnica de Madrid (UPM) - Centro de Automatica y Robotica (CAR), Madrid, Spain > Computer Vision Group
Language :
English
Title :
Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
Publication date :
2010
Event name :
2010 IEEE World Congress on Computational Intelligence
Event organizer :
IEEE, IEEE Computat Intelligence Soc, Int Neural Network Soc, Evolut Program Soc, IET
Event place :
Barcelona, Spain
Event date :
JUL 18-23, 2010
Audience :
International
Main work title :
Proccedings of World Congress on Computational Intelligence (WCCI 2010)
Publisher :
Ieee, New York, Unknown/unspecified
Peer reviewed :
Peer reviewed
Commentary :
978-1-4244-6920-8
Available on ORBilu :
since 06 November 2013

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