Visual-based quadrotor control by means of fuzzy cognitive maps

被引：30

作者：

Amirkhani, Abdollah ^{[1
]}

Shirzadeh, Masoud ^{[1
]}

Papageorgiou, Elpiniki I. ^{[2
]}

Mosavi, Mohammad R. ^{[1
]}

机构：

[1] Iran Univ Sci & Technol, Dept Elect Engn, Tehran 1684613114, Iran

[2] Technol Educ Inst Cent Greece, Dept Comp Engn, Lamia, Greece

来源：

ISA TRANSACTIONS | 2016年 / 60卷

关键词：

Image-based visual servoing; Moving target; Fuzzy cognitive map; Perspective image moments; Nonlinear Hebbian learning; UNMANNED AERIAL VEHICLE; IMAGE MOMENTS;

D O I：

10.1016/j.isatra.2015.11.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

By applying an image-based visual servoing (IBVS) method, the intelligent image-based controlling of a quadrotor type unmanned aerial vehicle (UAV) tracking a moving target is studied in this paper. A fuzzy cognitive map (FCM) is a soft computing method which is classified as a fuzzy neural system and exploits the main aspects of fuzzy logic and neural network systems; so it seems to be a suitable choice for implementing a vision-based intelligent technique. An FCM has been employed in implementing an IBVS scheme on a quadrotor UAV, so that the UAV can track a moving target on the ground. For this purpose, by properly combining the perspective image moments, some features with the desired characteristics for controlling the translational and yaw motions of a UAV have been presented. In designing a vision based control method for a UAV quadrotor, there are some challenges, including the target mobility and not knowing the height of UAV above the target. Also, no sensor has been installed on the moving object and the changes of its yaw angle are not available. Despite all the stated challenges, the proposed method, which uses an FCM in controlling the translational motion and the yaw rotation of a UAV, adequately enables the quadrotor to follow the moving target. The simulation results for different paths show the satisfactory performance of the designed controller. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：128 / 142

页数：15

共 55 条

[1] Image-based tracking control of VTOL unmanned aerial vehicles [J].

Abdessameud, Abdelkader ;

Janabi-Sharifi, Farrokh .

AUTOMATICA, 2015, 53 :111-119

[2] Classification of Intraductal Breast Lesions Based on the Fuzzy Cognitive Map [J].

Amirkhani, Abdollah ;

Mosavi, Mohammad R. ;

Mohammadizadeh, Fereshteh ;

Shokouhi, Shahriar B. .

ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING, 2014, 39 (05) :3723-3732

[3] Human centered architecture by means of Q-learning algorithm and the KEI (Knowledge, Emotion and Intention) model [J].

Ando, N ;

Watanabe, S ;

Yamaguchi, T .

2001 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION: INTEGRATING INTELLIGENT MACHINES WITH HUMANS FOR A BETTER TOMORROW, 2001, :189-193

[4] Soft computing for crisis management and political decision making: the use of genetically evolved fuzzy cognitive maps [J].