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See and Avoid using a Fuzzy Controller

 

 

 

 

A Fuzzy controller has been developed to sends heading commands to a Micro Unmmaned Aerial Vehicle (MUAV) to modify the trajectory of the aircraft. The main objective of this controller is to avoid obstacles. The only information that is used for control the aerial vehicle is visual information obtained with a low resolution camera onboard the MUAV. The Fuzzy controller is defined with two inputs and one output and 49 rules.  The next Figure shows the control loop of the system.

A set of real tests have been done to prove the correct behavior of the controller.  The next Figure shows the 3D reconstruction of one of this tests.