Observatorio de I+D+i UPM

Descripción
Abstract?In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.
Internacional	Si
Nombre congreso	IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)
Tipo de participación	960
Lugar del congreso	Brisbane
Revisores	Si
ISBN o ISSN	1098-7584
DOI
Fecha inicio congreso	10/06/2012
Fecha fin congreso	15/06/2012
Desde la página
Hasta la página
Título de las actas	10.1109/FUZZ-IEEE.2012.6251179

Esta actividad pertenece a memorias de investigación

• Autor: Miguel Ángel Olivares Mendez (UPM)
• Autor: Pascual Campoy Cervera (UPM)

• Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial