Observatorio de I+D+i UPM

Descripción
This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation
Internacional	Si
Nombre congreso	RED-UAS 2011, Research, Development and Education on Unmanned Aerial Systems
Tipo de participación	960
Lugar del congreso	Seville-SPAIN
Revisores	Si
ISBN o ISSN	978-84-615-6269-5
DOI
Fecha inicio congreso	30/11/2011
Fecha fin congreso	01/12/2011
Desde la página	61
Hasta la página	69
Título de las actas	RED-UAS 2011

Esta actividad pertenece a memorias de investigación

• Autor: Miguel Ángel Olivares Mendez (UPM)
• Autor: Ivan Fernando Mondragon Bernal (UPM)
• Autor: Pascual Campoy Cervera (UPM)
• Autor: Carol Viviana Martinez Luna (UPM)

• Creador: Grupo de Investigación: Computer Vision
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Electrónica e Informática Industrial