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UAS See-and-Avoid using two different approaches of Fuzzy Control

Olivares-Mendez, Miguel A., Mejias, Luis, Campoy, Pascual, Mellado-Bataller, Ignacio, & Mondragon, Ivan (2012) UAS See-and-Avoid using two different approaches of Fuzzy Control. In Digital Proceedings of the 2012 International Conference on Unmanned Aircraft Systems (ICUAS'12), Philadelphia, PA. USA. (In Press)

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    Abstract

    This work presents two UAS See and Avoid approaches using Fuzzy Control. We compare the performance of each controller when a Cross-Entropy method is applied to optimase the parameters for one of the controllers. Each controller receive information from an image processing front-end that detect and track targets in the environment. Visual information is then used under a visual servoing approach to perform autonomous avoidance. Experimental flight trials using a small quadrotor were performed to validate and compare the behaviour of both controllers

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    174 since deposited on 05 Jun 2012
    50 in the past twelve months

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    ID Code: 50750
    Item Type: Conference Paper
    Keywords: collision avoidance, UAV, UAS, Visual Control
    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) > Aircraft Performance and Flight Control Systems (090104)
    Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
    Current > Schools > School of Electrical Engineering & Computer Science
    Current > QUT Faculties and Divisions > Science & Engineering Faculty
    Copyright Owner: Copyright 2012 (please consult the authors).
    Deposited On: 05 Jun 2012 12:13
    Last Modified: 21 May 2013 19:43

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