Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Aerial Object Following Using Visual Fuzzy Servoing
Year:2011
Research Areas
  • Aerial robots
Information
Abstract
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 color 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 centered 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
International
Si
Congress
RED-UAS 2011, Research, Development and Education on Unmanned Aerial Systems
960
Place
Seville-SPAIN
Reviewers
Si
ISBN/ISSN
978-84-615-6269-5
Start Date
30/11/2011
End Date
01/12/2011
From page
61
To page
69
RED-UAS 2011
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Carol Viviana Martinez Luna (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)