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

Olivares Méndez, Miguel Ángel; Mondragon Bernal, Ivan Fernando y Campoy Cervera, Pascual (2013). Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control. En: "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.

Descripción

Título: Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Autor/es:
  • Olivares Méndez, Miguel Ángel
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems (2013)
Fechas del Evento: 20/11/2013 - 22/11/2013
Lugar del Evento: Compiegne, France
Título del Libro: Research, Education and Development of Unmanned Aerial Systems
Fecha: 2013
ISBN: 978-3-902823-57-1
Volumen: 2
Materias:
Palabras Clave Informales: Fuzzy control, Computer vision, Aircraft control, Autonomous vehicle, Robot Navigation, Extended Kalman filters, Position estimation, Velocity control
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 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.

Más información

ID de Registro: 29622
Identificador DC: http://oa.upm.es/29622/
Identificador OAI: oai:oa.upm.es:29622
Identificador DOI: 10.3182/20131120-3-FR-4045.00011
URL Oficial: http://www.ifac-papersonline.net/Detailed/63773.html
Depositado por: Memoria Investigacion
Depositado el: 12 May 2015 16:58
Ultima Modificación: 12 May 2015 16:58
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