Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control

Olivares Méndez, Miguel Ángel and Mondragon Bernal, Ivan Fernando and Campoy Cervera, Pascual (2013). Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control. In: "2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems (2013)", 20/11/2013 - 22/11/2013, Compiegne, France. ISBN 978-3-902823-57-1. pp. 79-86. https://doi.org/10.3182/20131120-3-FR-4045.00011.

Description

Title: Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Author/s:
  • Olivares Méndez, Miguel Ángel
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems (2013)
Event Dates: 20/11/2013 - 22/11/2013
Event Location: Compiegne, France
Title of Book: Research, Education and Development of Unmanned Aerial Systems
Date: 2013
ISBN: 978-3-902823-57-1
Volume: 2
Subjects:
Freetext Keywords: Fuzzy control, Computer vision, Aircraft control, Autonomous vehicle, Robot Navigation, Extended Kalman filters, Position estimation, Velocity control
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 paper presents a vision based autonomous landing control approach for unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based on the homographies estimated of a known landmark. The translation and altitude estimation of the helicopter against the helipad position are the only information that is used to control the longitudinal, lateral and descend speeds of the vehicle. The control system approach consists in three Fuzzy controllers to manage the speeds of each 3D axis of the aircraft s coordinate system. The 3D position estimation was proven rst, comparing it with the GPS + IMU data with very good results. The robust of the vision algorithm against occlusions was also tested. The excellent behavior of the Fuzzy control approach using the 3D position estimation based in homographies was proved in an outdoors test using a real unmanned helicopter.

More information

Item ID: 29622
DC Identifier: http://oa.upm.es/29622/
OAI Identifier: oai:oa.upm.es:29622
DOI: 10.3182/20131120-3-FR-4045.00011
Official URL: http://www.ifac-papersonline.net/Detailed/63773.html
Deposited by: Memoria Investigacion
Deposited on: 12 May 2015 16:58
Last Modified: 12 May 2015 16:58
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