Memorias de investigación
Ponencias en congresos:
Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Año:2013
Áreas de investigación
  • Automática
Datos
Descripción
This paper presents a vision based autonomous landing control approach for unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based on the homographies estimated of a known landmark. The translation and altitude estimation of the helicopter against the helipad position are the only information that is used to control the longitudinal, lateral and descend speeds of the vehicle. The control system approach consists in three Fuzzy controllers to manage the speeds of each 3D axis of the aircraft's coordinate system. The 3D position estimation was proven rst, comparing it with the GPS + IMU data with very good results. The robust of the vision algorithm against occlusions was also tested. The excellent behavior of the Fuzzy control approach using the 3D position estimation based in homographies was proved in an outdoors test using a real unmanned helicopter.
Internacional
Si
Nombre congreso
REDUAS, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems
Tipo de participación
960
Lugar del congreso
Compiegne, France
Revisores
Si
ISBN o ISSN
1474-6670
DOI
10.3182/20131120-3-FR-4045.00011
Fecha inicio congreso
20/11/2013
Fecha fin congreso
22/11/2013
Desde la página
79
Hasta la página
86
Título de las actas
Research, Education and Development of Unmanned Aerial Systems
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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