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"A pan-tilt camera Fuzzy vision controller on an unmanned aerial vehicle"

Congresses name: 

The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).


St Louis, USA.

Oct 11-15,2009.

 Abstract. This paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an UAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller, to follow the object moving a two axis servo-platform, besides the UAV vibrations and movements. The two Fuzzy controllers of each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those.