Communications at congresses:
Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation
Year:2010
Research Areas
- Intelligent vehicles
Information
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Abstract
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| This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3D- position estimation based on visual tracking of piecewise planar objects. This application allows the UAV to land on scenarios in which it is only possible to use visual information to obtain the position of the vehicle. The use of the homography allows a realtime estimation of the UAV¿s pose with respect to an helipad using a monocular camera. Fuzzy Logic allows the definition of a model-free control system of the UAV. The Fuzzy controller analyzes the visual information to generate altitude commands for the UAV in a landing task. | |
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International
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Si |
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Congress
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IEEE-WCCI 2010 World Congress on Computational Intelligence |
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960 |
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Place
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Barcelona-SPAIN |
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Reviewers
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Si |
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ISBN/ISSN
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978-1-4244-6920-8 |
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Start Date
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18/07/2010 |
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End Date
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23/07/2010 |
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From page
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1584 |
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To page
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1591 |
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FUZZ-IEEE 2010 |
Open Access publication
Participants
- Autor: Miguel Ángel Olivares Mendez UPM
- Autor: Ivan Fernando Mondragon Bernal UPM
- Autor: Pascual Campoy Cervera UPM
- Autor: Carol Viviana Martinez Luna UPM
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