A pan-tilt camera Fuzzy vision controller on an unmanned aerial vehicle

Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual and Martínez Luna, Carol Viviana and Mondragon Bernal, Ivan Fernando (2009). A pan-tilt camera Fuzzy vision controller on an unmanned aerial vehicle. In: "2009, IEEE/RSJ international conference on Intelligent robots and systems, IROS'09", 10/10/2009 - 15/10/2009, St Louis, EEUU. ISBN 978-1-4244-3803-7.

Description

Title: A pan-tilt camera Fuzzy vision controller on an unmanned aerial vehicle
Author/s:
  • Olivares Méndez, Miguel Ángel
  • Campoy Cervera, Pascual
  • Martínez Luna, Carol Viviana
  • Mondragon Bernal, Ivan Fernando
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2009, IEEE/RSJ international conference on Intelligent robots and systems, IROS'09
Event Dates: 10/10/2009 - 15/10/2009
Event Location: St Louis, EEUU
Title of Book: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems, IROS'09
Date: December 2009
ISBN: 978-1-4244-3803-7
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

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (839kB) | Preview

Abstract

is paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an UAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller, to follow the object moving a two axis servo-platform, besides the UAV vibrations and movements. The two Fuzzy controllers of each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those.

More information

Item ID: 5724
DC Identifier: http://oa.upm.es/5724/
OAI Identifier: oai:oa.upm.es:5724
Official URL: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5354576&tag=1
Deposited by: Memoria Investigacion
Deposited on: 17 Jan 2011 10:29
Last Modified: 20 Apr 2016 14:27
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM