Observatorio de I+D+i UPM

Descripción
This paper presents an implementation of three Fuzzy Logic controllers working in parallel onboard a UAV, two for a pan-tilt camera platform and the third for control the yaw of the helicopter. This implementation uses a Lucas-Kanade tracker algorithm with a pyramidal optical flow implementation, which gives information to follow statics and moving objects, besides the UAV vibrations and movements. The platform controller is helped by the heading controller, in order to make smooth the big movements to the platform, reducing the risk of lost the warp selection of the object to track. Also, the heading control remove the physic limit of the platform at the yaw axis. Some laboratory and UAV tests are presented in order to show the different behaviors and the good response of the presented controllers.
Internacional	Si
Nombre congreso	EUROFUSE 2009. Workshop on on preference modelling and decision analysis
Tipo de participación	960
Lugar del congreso	Navarra, Spain
Revisores	Si
ISBN o ISSN	978-84-9769-242-7
DOI
Fecha inicio congreso	16/09/2009
Fecha fin congreso	18/09/2009
Desde la página	117
Hasta la página	122
Título de las actas	EUROFUSE 2009. Workshop on on preference modelling and decision analysis

Esta actividad pertenece a memorias de investigación

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

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