A pan-tilt camera fuzzy vision controller on an unmanned aerial vehicle

Authors:
Miguel A. Olivares-Méndez;Pascual Campoy;Carol Martínez;Iván Mondragón
Affiliations:
Universidad Politénica de Madrid, Madrid, Spain;Universidad Politénica de Madrid, Madrid, Spain;Universidad Politénica de Madrid, Madrid, Spain;Universidad Politénica de Madrid, Madrid, Spain
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 2
Cited 2

Computer Vision Onboard UAVs for Civilian Tasks

Journal of Intelligent and Robotic Systems
An iterative image registration technique with an application to stereo vision

IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2

Unmanned aerial vehicles UAVs attitude, height, motion estimation and control using visual systems

Autonomous Robots
Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

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.