Aerial Object Following Using Visual Fuzzy Servoing

Olivares Méndez, Miguel Ángel and Mondragon Bernal, Ivan Fernando and Campoy Cervera, Pascual and Mejias Alvarez, Luis and Martínez Luna, Carol Viviana (2011). Aerial Object Following Using Visual Fuzzy Servoing. In: "RED-UAS 2011", 30/11/2011 - 01/12/2011, Sevilla, España. ISBN 978-84-615-6269-5. pp. 61-69.


Title: Aerial Object Following Using Visual Fuzzy Servoing
  • Olivares Méndez, Miguel Ángel
  • Mondragon Bernal, Ivan Fernando
  • Campoy Cervera, Pascual
  • Mejias Alvarez, Luis
  • Martínez Luna, Carol Viviana
Item Type: Presentation at Congress or Conference (Article)
Event Title: RED-UAS 2011
Event Dates: 30/11/2011 - 01/12/2011
Event Location: Sevilla, España
Title of Book: Proceedings of RED-UAS 2011
Date: 2011
ISBN: 978-84-615-6269-5
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

[thumbnail of INVE_MEM_2011_111225.pdf]
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (884kB) | Preview


This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the colour information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centred on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Funding Projects

International Cooperation Program for Unmanned Aerial Systems (UAS) Research and Development

More information

Item ID: 13252
DC Identifier:
OAI Identifier:
Official URL:
Deposited by: Memoria Investigacion
Deposited on: 28 Nov 2012 12:16
Last Modified: 07 Nov 2014 11:02
  • 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