Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation

Olivares Méndez, Miguel Ángel and Campoy Cervera, Pascual and Mondragon Bernal, Ivan Fernando and Martínez Luna, Carol Viviana (2010). Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation. In: "IEEE International Conference Fuzzy Systems, FUZZ 2010", 18/07/2010 - 23/07/2010, Barcelona, España. ISBN 978-1-4244-6919-2.

Description

Title: Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
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: IEEE International Conference Fuzzy Systems, FUZZ 2010
Event Dates: 18/07/2010 - 23/07/2010
Event Location: Barcelona, España
Title of Book: Proceedings of the IEEE International Conference Fuzzy Systems, FUZZ 2010
Date: 2010
ISBN: 978-1-4244-6919-2
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

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Abstract

This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3D-position estimation based on visual tracking of piecewise planar objects. This application allows the UAV to land on scenarios in which it is only possible to use visual information to obtain the position of the vehicle. The use of the homography permits a realtime estimation of the UAV's pose with respect to a helipad using a monocular camera. Fuzzy Logic allows the definition of a model-free control system of the UAV. The Fuzzy controller analyzes the visual information to generate altitude commands for the UAV to develop the landing task.

More information

Item ID: 8291
DC Identifier: http://oa.upm.es/8291/
OAI Identifier: oai:oa.upm.es:8291
Official URL: http://www.wcci2010.org/
Deposited by: Memoria Investigacion
Deposited on: 22 Jul 2011 17:51
Last Modified: 20 Apr 2016 17:08
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