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Autonomous landing using onboard visual systems:

Using an onboard camera and a reference ground object, is possible to obtain enough information to command the UAV during a landing process. For this we use the properties of the Homography projection model and the tracking based on features, to obtain the relative position between the UAV and the reference landmark. With these information, a control loop is closed using a dynamic look and move architecture. The control loop was made using Fuzzy Logic and was defined using the MOFS (Miguel Olivares' Fuzzy Software). The fuzzy-controller send velocity commands to control the altitude.