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Moving planar target following by vision system

The purpose of this research is to implement a real time moving object following from a UAV. A pan & tilt visual platform is used in order to follow a moving object in spite of the move  of the helicopters, the vibrations and the perturbations of the environment. Two Fuzzy Controllers implemented using the MOFS (Miguel Olivares' Fuzzy Software) with just 49 rules are used.