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Descripción
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| 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. | |
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Internacional
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JCR del ISI
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Título de la revista
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Journal of Intelligent & Robotic Systems |
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ISSN
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0921-0296 |
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Factor de impacto JCR
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0,829 |
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Información de impacto
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Datos JCR del año 2011 |
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Volumen
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DOI
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Número de revista
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