Skip to Content

Visual Control

See and Follow: MUAV Object Following using soft computing control techniques

A control strategy is developed based on visual information given by an adaptive tracking method based on color information. A visual fuzzy servoing system has been developed control a quadcopter (MUAV), that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centered on the image plane. The control behavior is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations that affect not just to the quadcopter but also to the object to follow.

3D Object Following based on Visual Information

A system and a control strategy for visual following of 3D moving object by an Unmanned Aerial Vehicles UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane.

An autonomous visual line guided urban-car using no prediction information and controlled with Fuzzy Logic

This is an autonomous urban-car, Citroën C3, guided with the visual information obtained by a camera installed in front of the car.A Fuzzy controller was design to control the steering wheel of the vehicle. The only input information for the controller is the visual distance from the centre of the image and the centre of the line. No more information from other sensor and previous information about the path are used.