Visual servoing using fuzzy controllers on an unmanned aerial vehicles

Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual and Mondragon Bernal, Ivan Fernando and Martínez Luna, Carol Viviana (2009). Visual servoing using fuzzy controllers on an unmanned aerial vehicles. In: "EUROFUSE 2009. Workshop on on preference modelling and decision analysis", 16/09/2009 - 18/09/2009, Pamplona, España.

Description

Title: Visual servoing using fuzzy controllers on an unmanned aerial vehicles
Author/s:
  • Olivares Méndez, Miguel Ángel
  • Campoy Cervera, Pascual
  • Mondragon Bernal, Ivan Fernando
  • Martínez Luna, Carol Viviana
Item Type: Presentation at Congress or Conference (Article)
Event Title: EUROFUSE 2009. Workshop on on preference modelling and decision analysis
Event Dates: 16/09/2009 - 18/09/2009
Event Location: Pamplona, España
Title of Book: Proceedings of EUROFUSE 2009. Workshop on on preference modelling and decision analysis
Date: 2009
Subjects:
Freetext Keywords: Unmanned Aerial Ve- hicles, Fuzzy Control, Visual servo- ing, pan-tilt platform.
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 an implementa- tion of three Fuzzy Logic controllers working in parallel onboard a UAV, two for a pan-tilt camera platform and the third for control the yaw of the helicopter. This implementation uses a Lucas-Kanade tracker algo- rithm with a pyramidal optical ow implementation, which gives infor- mation to follow statics and moving objects, besides the UAV vibrations and movements. The platform con- troller is helped by the heading con- troller, in order to make smooth the big movements to the platform, re- ducing the risk of lost the warp selec- tion of the object to track. Also, the heading control remove the physic limit of the platform at the yaw axis. Some laboratory and UAV tests are presented in order to show the di er- ent behaviors and the good response of the presented controllers.

More information

Item ID: 5725
DC Identifier: http://oa.upm.es/5725/
OAI Identifier: oai:oa.upm.es:5725
Official URL: http://eurofuse09.unavarra.es/
Deposited by: Memoria Investigacion
Deposited on: 17 Jan 2011 09:53
Last Modified: 20 Apr 2016 14:27
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