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Memorias de investigación
Ponencias en congresos:
Aerial Object Following Using Visual Fuzzy Servoing
Año:2011
Áreas de investigación
  • Robots aéreos
Datos
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
Participantes
  • Autor: Miguel Ángel Olivares Mendez (UPM)
  • Autor: Ivan Fernando Mondragon Bernal (UPM)
  • Autor: Pascual Campoy Cervera (UPM)
  • Autor: Carol Viviana Martinez Luna (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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
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