TY - GEN
T1 - Non-symmetric membership function for fuzzy-based visual servoing onboard a UAV
AU - Olivares-Méndez, M. A.
AU - Campoy, P.
AU - Martínez, C.
AU - Mondragón B., I. F.
N1 - Publisher Copyright:
© 2010 by World Scientific Publishing Co. Pte. Ltd.
PY - 2010
Y1 - 2010
N2 - This paper presents the definition of non-symmetric membership function for Fuzzy controllers applied to a pan & tilt vision platform onboard an Unmanned Aerial Vehicle. This improvement allows the controllers to have a more adaptive behavior to the non-linearities presented in an UAV. This implementation allows the UAV to follow objects in the environment by using Lucas-Kanade visual tracker, in spite of the aircraft vibrations, the movements of the objects and the aircraft. update has been tested in real flights with an unmanned helicopter of the Computer Vision Group at the UPM, with very successful results, attaining a considerable reduction of the error during the tracking tests.
AB - This paper presents the definition of non-symmetric membership function for Fuzzy controllers applied to a pan & tilt vision platform onboard an Unmanned Aerial Vehicle. This improvement allows the controllers to have a more adaptive behavior to the non-linearities presented in an UAV. This implementation allows the UAV to follow objects in the environment by using Lucas-Kanade visual tracker, in spite of the aircraft vibrations, the movements of the objects and the aircraft. update has been tested in real flights with an unmanned helicopter of the Computer Vision Group at the UPM, with very successful results, attaining a considerable reduction of the error during the tracking tests.
KW - Fuzzy Control
KW - Non-Symmetric membership function
KW - Pan-tilt visual platform
KW - Unmanned Aerial Vehicles
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=85037544004&partnerID=8YFLogxK
U2 - 10.1142/9789814324700_0044
DO - 10.1142/9789814324700_0044
M3 - Conference contribution
AN - SCOPUS:85037544004
T3 - Computational Intelligence Foundations and Applications - Proceedings of the 9th International FLINS Conference, FLINS 2010
SP - 300
EP - 307
BT - Computational Intelligence Foundations and Applications - Proceedings of the 9th International FLINS Conference, FLINS 2010
A2 - Ruan, Da
A2 - Kerre, Etienne E.
A2 - Ruan, Da
A2 - Chen, Guoqing
A2 - Li, Tianrui
A2 - Xu, Yang
PB - World Scientific Publishing Co. Pte Ltd
T2 - Computational Intelligence Foundations and Applications - 9th International Fuzzy Logic and Intelligent Technologies in Nuclear Science Conference, FLINS 2010
Y2 - 2 August 2010 through 4 August 2010
ER -