Non-symmetric membership function for Fuzzy-based visual servoing onboard a UAV

Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual and Martínez Luna, Carol Viviana and Mondragon Bernal, Ivan Fernando (2010). Non-symmetric membership function for Fuzzy-based visual servoing onboard a UAV. In: "9th International Flins Conference, Computation Intelligence Foundations and Applications", 02/08/2010 - 04/08/2010, Chengdu, China. ISBN 978-981-4324-69-4.

Description

Title: Non-symmetric membership function for Fuzzy-based visual servoing onboard a UAV
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: 9th International Flins Conference, Computation Intelligence Foundations and Applications
Event Dates: 02/08/2010 - 04/08/2010
Event Location: Chengdu, China
Title of Book: Proceedings of the 9th International Flins Conference, Computation Intelligence Foundations and Applications
Date: 2010
ISBN: 978-981-4324-69-4
Subjects:
Freetext Keywords: Unmanned Aerial Vehicles; Non-Symmetric membership function; Fuzzy Control; Visual servoing; pan-tilt visual 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 the definition of non-symmetric membership function for Fuzzy controllers applied to a pan & tilt vision platform onboard an Unmanned Aerial Vehicle. This improvement allows the controllers to have a more adaptive behavior to the non-linearities presented in an UAV. This implementation allows the UAV to follow objects in the environment by using Lucas-Kanade visual tracker, in spite of the aircraft vibrations, the movements of the objects and the aircraft. update has been tested in real flights with an unmanned helicopter of the Computer Vision Group at the UPM, with very successful results, attaining a considerable reduction of the error during the tracking tests.

More information

Item ID: 8290
DC Identifier: http://oa.upm.es/8290/
OAI Identifier: oai:oa.upm.es:8290
Official URL: http://www.worldscibooks.com/compsci/7939.html
Deposited by: Memoria Investigacion
Deposited on: 12 Sep 2011 11:20
Last Modified: 20 Apr 2016 17:08
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