This paper is focused on the design of a vision based control approach for the autonomous landing task of Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs). Here is presented the setup of a simulated environment developed in V-REP connected to ROS, and its uses for tuning a vision based control approach. In this work, a Fuzzy control approach was proposed to command the UAV's vertical, longitudinal, lateral and orientation velocities. The UAV's pose estimation was done based on a vision algorithm and the knowledge of the landing target. Real experiments with a quadrotor landing in a moving platform are also presented.


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    Titel :

    Vision based fuzzy control autonomous landing with UAVs: From V-REP to real experiments


    Beteiligte:


    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    3387272 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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