Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Visual servoing using fuzzy controllers on an unmanned aerial vehicles
Year:2009
Research Areas
  • Artificial intelligence
Information
Abstract
This paper presents an implementation of three Fuzzy Logic controllers working in parallel onboard a UAV, two for a pan-tilt camera platform and the third for control the yaw of the helicopter. This implementation uses a Lucas-Kanade tracker algorithm with a pyramidal optical flow implementation, which gives information to follow statics and moving objects, besides the UAV vibrations and movements. The platform controller is helped by the heading controller, in order to make smooth the big movements to the platform, reducing the risk of lost the warp selection of the object to track. Also, the heading control remove the physic limit of the platform at the yaw axis. Some laboratory and UAV tests are presented in order to show the di fferent behaviors and the good response of the presented controllers.
International
Si
Congress
EUROFUSE 2009. Workshop on on preference modelling and decision analysis
960
Place
Navarra, Spain
Reviewers
Si
ISBN/ISSN
978-84-9769-242-7
Start Date
16/09/2009
End Date
18/09/2009
From page
117
To page
122
EUROFUSE 2009. Workshop on on preference modelling and decision analysis
Participants
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Carol Viviana Martinez Luna (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Visión por computador
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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