Aerial object following using visual fuzzy servoing
Olivares-Mendez, Miguel A. , Mondragon, Ivan , Campoy Cervera, Pascual , Mejias, Luis, & Martinez, Carol (2011) Aerial object following using visual fuzzy servoing. In Proceedings of the 1st Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011), Centro Avanzado de Tecnologías Aeroespaciales (CATEC) , Seville, Spain, pp. 61-70.
This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the colour information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centred on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation
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|Item Type:||Conference Paper|
|Keywords:||Visual Servoing, Fuzzy Control, Soft Computing, UAV|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation|
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2011|
|Deposited On:||05 Dec 2011 08:59|
|Last Modified:||30 May 2012 19:03|
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