Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
Year:2010
Research Areas
  • Intelligent vehicles
Information
Abstract
This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3D- position estimation based on visual tracking of piecewise planar objects. This application allows the UAV to land on scenarios in which it is only possible to use visual information to obtain the position of the vehicle. The use of the homography allows a realtime estimation of the UAV¿s pose with respect to an helipad using a monocular camera. Fuzzy Logic allows the definition of a model-free control system of the UAV. The Fuzzy controller analyzes the visual information to generate altitude commands for the UAV in a landing task.
International
Si
Congress
IEEE-WCCI 2010 World Congress on Computational Intelligence
960
Place
Barcelona-SPAIN
Reviewers
Si
ISBN/ISSN
978-1-4244-6920-8
Start Date
18/07/2010
End Date
23/07/2010
From page
1584
To page
1591
FUZZ-IEEE 2010
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
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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