Abstract
In this paper, we present control systems for an unmanned aerial vehicle (UAV) which provides aerial support for an unmanned ground vehicle (UGV). The UGV acts as a mobile launching pad for the UAV. The UAV provides additional environmental image feedback to the UGV. Our UAV of choice is a Parrot ArDrone 2.0 quadcopter, a small four rotored aerial vehicle, picked for its agile flight and video feedback capabilities. This paper presents design and simulation of fuzzy logic controllers for performing landing, hovering, and altitude control. Image processing and Mamdani-type inference are used for converting sensor input into control signals used to control the UAV.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Wenzel, K.E., Masselli, A., Zell, A.: Automatic take off, tracking and landing of a miniature UAV on a moving carrier vehicle. Journal of Intelligent & Robotic Systems 61, 221–238 (2011)
Toksoz, T., Redding, J., Michini, M., Michini, B., How, J.P., Vavrina, M., et al.: Automated Battery Swap and Recharge to Enable Persistent UAV Missions. In: AIAA Infotech@ Aerospace Conference (2011)
Daly, J.M., Yan, M., Waslander, S.L.: Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4961–4966 (2011)
Saska, M., Krajnik, T., Pfeucil, L.: Cooperative microUAV-UGV autonomous indoor surveillance. In: 2012 9th International Multi-Conference on Systems, Signals and Devices (SSD), pp. 1–6 (2012)
WillowGarage. Documentation - Robot Operating System (October 2012), http://www.ros.org/wiki/
Koenig, A.H.N.: Gazebo ROS Simulator - gazebo - ROS Wiki (2013), http://www.ros.org/wiki/gazebo
Engel, J.: TUM ArDrone Simulator - tum_ardrone - ROS Wiki (2013), http://www.ros.org/wiki/tum_ardrone
Niekum, S.: AR Tag Tracking Library - ar_track_alvar - ROS Wiki (2013), http://www.ros.org/wiki/ar_track_alvar
Rada-Vilela, J.: fuzzylite - A Fuzzy Logic Control Library and Application in C++ (2013), http://code.google.com/p/fuzzylite/
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Benavidez, P.J., Lambert, J., Jaimes, A., Jamshidi, M. (2014). Landing of a Quadcopter on a Mobile Base Using Fuzzy Logic. In: Jamshidi, M., Kreinovich, V., Kacprzyk, J. (eds) Advance Trends in Soft Computing. Studies in Fuzziness and Soft Computing, vol 312. Springer, Cham. https://doi.org/10.1007/978-3-319-03674-8_41
Download citation
DOI: https://doi.org/10.1007/978-3-319-03674-8_41
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03673-1
Online ISBN: 978-3-319-03674-8
eBook Packages: EngineeringEngineering (R0)