Descripción
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This paper presents a vision based autonomous landing control approach for unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based on the homographies estimated of a known landmark. The translation and altitude estimation of the helicopter against the helipad position are the only information that is used to control the longitudinal, lateral and descend speeds of the vehicle. The control system approach consists in three Fuzzy controllers to manage the speeds of each 3D axis of the aircraft's coordinate system. The 3D position estimation was proven rst, comparing it with the GPS + IMU data with very good results. The robust of the vision algorithm against occlusions was also tested. The excellent behavior of the Fuzzy control approach using the 3D position estimation based in homographies was proved in an outdoors test using a real unmanned helicopter. | |
Internacional
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Si |
Nombre congreso
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REDUAS, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems |
Tipo de participación
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960 |
Lugar del congreso
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Compiegne, France |
Revisores
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Si |
ISBN o ISSN
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1474-6670 |
DOI
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10.3182/20131120-3-FR-4045.00011 |
Fecha inicio congreso
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20/11/2013 |
Fecha fin congreso
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22/11/2013 |
Desde la página
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79 |
Hasta la página
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86 |
Título de las actas
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Research, Education and Development of Unmanned Aerial Systems |