TY - GEN
T1 - A pan-tilt camera Fuzzy vision controller on an unmanned aerial vehicle
AU - Olivares-Méndez, Miguel A.
AU - Campoy, Pascual
AU - Martínez, Carol
AU - Mondragón, Iván
PY - 2009/12/11
Y1 - 2009/12/11
N2 - This paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an UAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller to follow the object by moving a two axis servo-platform, regardless the UAV vibrations and movements. The two Fuzzy controllers for each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those controllers. The controllers have shown very good performances in real flights for statics objects, tested on the Colibri prototypes.
AB - This paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an UAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller to follow the object by moving a two axis servo-platform, regardless the UAV vibrations and movements. The two Fuzzy controllers for each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those controllers. The controllers have shown very good performances in real flights for statics objects, tested on the Colibri prototypes.
UR - https://www.scopus.com/pages/publications/76249087888
U2 - 10.1109/IROS.2009.5354576
DO - 10.1109/IROS.2009.5354576
M3 - Conference contribution
AN - SCOPUS:76249087888
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 2879
EP - 2884
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -