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

Mondragon Bernal, Ivan Fernando; Campoy Cervera, Pascual; Olivares Méndez, Miguel Ángel y Martínez Luna, Carol Viviana (2011). 3D Object following based on visual information for Unmanned Aerial Vehicles. En: "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.

Descripción

Título: 3D Object following based on visual information for Unmanned Aerial Vehicles
Autor/es:
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
  • Olivares Méndez, Miguel Ángel
  • Martínez Luna, Carol Viviana
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC) Robotics Symposium
Fechas del Evento: 01/10/2011 - 04/10/2011
Lugar del Evento: Bogotá, Colombia
Título del Libro: Proceedings of 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC) Robotics Symposium
Fecha: 2011
ISBN: 978-1-4577-1689-8
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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

Más información

ID de Registro: 12183
Identificador DC: http://oa.upm.es/12183/
Identificador OAI: oai:oa.upm.es:12183
URL Oficial: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6086794&tag=1
Depositado por: Memoria Investigacion
Depositado el: 04 Sep 2012 10:08
Ultima Modificación: 21 Abr 2016 11:23
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