Quadcopter see and avoid using a fuzzy controller


Autoria(s): Olivares-Mendez, Miguel A.; Mejias, Luis; Campoy, Pascual; Mellado-Bataller, Ignacio
Data(s)

01/06/2012

Resumo

Unmanned Aerial Vehicles (UAVs) industry is a fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors or fixed-wings. Until UAVs demonstrate advance capabilities such as autonomous collision avoidance they will be segregated and restricted to flight in controlled environments. This work presents a visual fuzzy servoing system for obstacle avoidance using UAVs. To accomplish this task we used the visual information from the front camera. Images are processed off-board and the result send to the Fuzzy Logic controller which then send commands to modify the orientation of the aircraft. Results from flight test are presented with a commercial off-the-shelf platform.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/50749/

Publicador

World Scientific

Relação

http://eprints.qut.edu.au/50749/1/Quadcopter_See_and_avoid_Fuzzy_Controller_FINAL.pdf

Olivares-Mendez, Miguel A., Mejias, Luis, Campoy, Pascual, & Mellado-Bataller, Ignacio (2012) Quadcopter see and avoid using a fuzzy controller. In Proceedings of the 10th International FLINS Conference on Uncertainty Modeling in Knowledge Engineering and Decision Making (FLINS 2012), World Scientific, Istanbul, Turkey .

Direitos

Copyright 2012 [please consult the author]

Fonte

Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty

Palavras-Chave #080104 Computer Vision #080108 Neural Evolutionary and Fuzzy Computation #090104 Aircraft Performance and Flight Control Systems #Fuzzy Systems #UAV #UAS #Visual Control
Tipo

Conference Paper