Vision Based Fuzzy Control Approaches for Unmanned Aerial Vehicles

摘要

This paper proposed the use of vision based Fuzzy control approaches for autonomous navigation tasks with Unmanned Aerial Vehicles (UAVs). It is shown the advantages of using RGB cameras as the sensor onboard UAVs and the advantages of using Fuzzy logic controllers. It is explained how to set a vision based system and how to define a Fuzzy controller for a general control approach. A specific software was design and used to develop and tune general Fuzzy control approaches. The "how-to" of this software is also explained in this paper. A methodology to how to design, developed and tune Vision based Fuzzy Control (VBFC) approaches in robotics is also presented. Furthermore, it is shown three different VBFC approaches for autonomous navigation developed using this methodology and software. Real experiments were done to validate the different approaches with different vertical takeoff and landing (VTOL) UAVs.