@inproceedings{c3f3a51a9c804c899d4b5d1441f8bebb,
title = "Autonomous landing of an unmanned aerial vehicle using image-based fuzzy control",
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 first, 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.",
keywords = "Aircraft control, Autonomous vehicle, Computer vision, Extended kalman filters, Fuzzy control, Position estimation, Robot navigation, Velocity control",
author = "Olivares-Mendez, {Miguel A.} and Mondrag{\'o}n, {Iv{\'a}n F.} and Pascual Campoy",
note = "Funding Information: The work reported in this paper is the consecution of several research stages at the Computer Vision Group - Universidad Polit{\'e}cnica de Madrid. The authors would like to thank the Universidad Polit{\'e}cnica de Madrid, the Consejer{\'i}a de Educaci{\'o}n de la Comunidad de Madrid and the Fondo Social Europeo (FSE) for some of the Authors PhD Scholarship, the Australian Research Centre for Aerospace Automation and the European Commission CORDIS. This work has been sponsored by the Spanish Science and Technology Ministry under the grant CICYT DPI2010-20751-C02-01, and China Scholarship Council (CSC).; 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 ; Conference date: 20-11-2013 Through 22-11-2013",
year = "2013",
doi = "10.3182/20131120-3-FR-4045.00011",
language = "English",
isbn = "9783902823571",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
pages = "79--86",
booktitle = "2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings",
edition = "PART 1",
}