Target Search and Tracking with an Autonomous Quadcopter using Type-2 Fuzzy Logic Controller
Küçük Resim Yok
Tarih
2022
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this study, an interval type-2 fuzzy logic controller has been proposed for the target search and tracking mission of an unmanned aerial vehicle. The visual data coming from the onboard camera sensor of the quadcopter have been processed to provide visual feedback from the environment and to detect the target. In the given mission, the quadcopter first performed a systematic search over the area until the target has been detected, and then proceeded with the tracking of the target. The ROS/Gazebo platform has been used to test the performance of the proposed control scheme. A fuzzy type-1 controller has been also developed to assess the performance of the type-2 controller. The results of the simulations indicate that type-2 fuzzy logic controller can provide better steady state and transient characteristics compared to its type-1 counterpart. © 2022 IEEE.
Açıklama
2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022 -- 7 September 2022 through 9 September 2022 -- -- 183936
Anahtar Kelimeler
Quadcopter, Ros/Gazebo, Type-1 Fuzzy Logic Controller, Type-2 Fuzzy Logic Controller, Aircraft Detection, Antennas, Computer Circuits, Fuzzy Logic, Visual Communication, Visual Servoing, Aerial Vehicle, Fuzzy Logic Controllers, Interval Type-2 Fuzzy Logic Controllers, Performance, Quadcopter, Ros/Gazebo, Target Search, Targets Tracking, Type-1 Fuzzy Logic Controller, Type-2 Fuzzy Logic Controllers, Controllers
Kaynak
Proceedings - 2022 Innovations in Intelligent Systems and Applications Conference, ASYU 2022
WoS Q Değeri
Scopus Q Değeri
N/A
