Quadcopter see and avoid using a fuzzy controller
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 .
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.
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