TY - GEN
T1 - Fuzzy controller for UAV-landing task using 3D-position visual estimation
AU - Olivares-Méndez, Miguel A.
AU - Mondragón, Iván F.
AU - Campoy, Pascual
AU - Martínez, Carol
PY - 2010
Y1 - 2010
N2 - This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3Dposition 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 permits a realtime estimation of the UAV's pose with respect to a 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 to develop the landing task.
AB - This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3Dposition 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 permits a realtime estimation of the UAV's pose with respect to a 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 to develop the landing task.
UR - https://www.scopus.com/pages/publications/78549293936
U2 - 10.1109/FUZZY.2010.5584396
DO - 10.1109/FUZZY.2010.5584396
M3 - Conference contribution
AN - SCOPUS:78549293936
SN - 9781424469208
T3 - 2010 IEEE World Congress on Computational Intelligence, WCCI 2010
BT - 2010 IEEE World Congress on Computational Intelligence, WCCI 2010
T2 - 2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010
Y2 - 18 July 2010 through 23 July 2010
ER -