Memorias de investigación
Communications at congresses:
Autonomous Landing of an Unmanned Aerial Vehicle using Image-Based Fuzzy Control
Year:2013

Research Areas
  • Automatic

Information
Abstract
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.
International
Si
Congress
REDUAS, 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems
960
Place
Compiegne, France
Reviewers
Si
ISBN/ISSN
1474-6670
10.3182/20131120-3-FR-4045.00011
Start Date
20/11/2013
End Date
22/11/2013
From page
79
To page
86
Research, Education and Development of Unmanned Aerial Systems
Participants

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