Landing of an Ardrone 2.0 quadcopter on a mobile base using fuzzy logic

Author

Benavidez, Patrick ; Lambert, Josue ; Jaimes, Aldo ; Jamshidi, Mo

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Texas at San Antonio, San Antonio, TX, USA

fYear

2014

fDate

3-7 Aug. 2014

Firstpage

803

Lastpage

812

Abstract

In this paper, a fuzzy control system is presented for an unmanned aerial vehicle (UAV) which provides aerial support for an unmanned ground vehicle (UGV). The UGV acts as a mobile launching pad for the UAV. The UAV provides additional environmental image feedback to the UGV. Our UAV of choice is a Parrot ArDrone 2.0 quadcopter, a small four rotored aerial vehicle, competent for its agile flight and video feedback capabilities. This paper presents design and simulation of fuzzy logic controllers for performing landing and altitude control. Image processing and Mamdani-type inference are used for converting sensor input into control signals used to control the UAV.

Keywords

autonomous aerial vehicles; fuzzy control; helicopters; image processing; inference mechanisms; mobile robots; spatial variables control; telerobotics; Mamdani-type inference; Parrot ArDrone 2.0 quadcopter; UAV; UGV; agile flight; altitude control; environmental image feedback; four rotored aerial vehicle; fuzzy control system; fuzzy logic controllers; image processing; landing control; mobile launching pad; unmanned aerial vehicle; unmanned ground vehicle; video feedback capabilities; Cameras; Fuzzy logic; Hardware; Three-dimensional displays; Quadrotor; ROS; UAV; UGV; cooperative robots; fuzzy logic; image processing;

fLanguage

English

Publisher

ieee

Conference_Titel

World Automation Congress (WAC), 2014

Conference_Location

Waikoloa, HI

Type

conf

DOI

10.1109/WAC.2014.6936156

Filename

6936156