Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Vision-Based PD-type Fuzzy Servoing of a Quadrotor UAV: Apply for Aerial Object Following
Year:2013
Research Areas
  • Reactive control,
  • Navigation,
  • Aerial robots,
  • Diffuse control,
  • Intelligent control
Information
Abstract
Abstract This paper presents a visual servoing system to follow a 3D aerial moving object by an Unmanned Aerial Vehicle (UAV). The proposed system only uses the visual information obtained by an adaptive track- ing approach based on the color inspection. The con- trol strategy is based on two controllers. The pitch con- troller has to maintain the UAV with a ?xed safe dis- tance to the aerial moving object. The heading con- troller has to keep the centroid of object on the center of onboard forward-looking camera image plane. These controllers were developed using Fuzzy logic techniques. The presented control system has been validated with real outdoor ights. The results proved the robustness of this system against wind disturbances, illumination changes and among others.
International
Si
JCR
Si
Title
Journal of Intelligent & Robotic Systems
ISBN
0921-0296
Impact factor JCR
0,829
Impact info
Datos JCR del año 2011
Volume
Journal number
From page
To page
Month
SIN MES
Ranking
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
Research Group, Departaments and Institutes related
  • Creador: 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)