Target Search and Tracking with an Autonomous Quadcopter using Type-2 Fuzzy Logic Controller

Abstract

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.