3D Object following based on visual information for Unmanned Aerial Vehicles

Mondragon Bernal, Ivan Fernando and Campoy Cervera, Pascual and Olivares Méndez, Miguel Ángel and Martínez Luna, Carol Viviana (2011). 3D Object following based on visual information for Unmanned Aerial Vehicles. In: "2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC) Robotics Symposium", 01/10/2011 - 04/10/2011, Bogotá, Colombia. ISBN 978-1-4577-1689-8. pp. 1-7.

Description

Title: 3D Object following based on visual information for Unmanned Aerial Vehicles
Author/s:
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
  • Olivares Méndez, Miguel Ángel
  • Martínez Luna, Carol Viviana
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC) Robotics Symposium
Event Dates: 01/10/2011 - 04/10/2011
Event Location: Bogotá, Colombia
Title of Book: Proceedings of 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC) Robotics Symposium
Date: 2011
ISBN: 978-1-4577-1689-8
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This article presents a novel system and a control strategy for visual following of a 3D moving object by an Unmanned Aerial Vehicle UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

More information

Item ID: 12183
DC Identifier: http://oa.upm.es/12183/
OAI Identifier: oai:oa.upm.es:12183
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6086794&tag=1
Deposited by: Memoria Investigacion
Deposited on: 04 Sep 2012 10:08
Last Modified: 21 Apr 2016 11:23
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