Position Based Visual Hovering Control of the AR. Drone 2. 0 Quadcopter Using Fuzzy Logic

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

E.Adli S.; SHOARAN M.; S.Noorani S.M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: TABRIZ JOURNAL OF ELECTRICAL ENGINEERING Year:2019 | Volume:49 | Issue:2 (88) Page(s): 709-720

Download Full-Text

Persian Verion

View:

890

Download:

Cites:

Information Journal Paper

Title

Position Based Visual Hovering Control of the AR. Drone 2. 0 Quadcopter Using Fuzzy Logic

Author(s)

E.Adli S. | SHOARAN M. | S.Noorani S.M. | Issue Writer Certificate

Keywords

Quadcopter AR.Drone 2.0Q1

Autonomous hoveringQ1

PnP pose estimationQ1

Fuzzy controllerQ2

Gazebo simulatorQ1

ROSQ1

Abstract

Autonomous hovering of AR. Drone 2. 0 quadcopter, which is an important subject and prerequisite for other autonomous UAV applications, is the goal of this paper. We propose a new method, called GSPnP, for pose estimation using only the bottom camera of the robot. Moreover, an optimal Fuzzy controller, called TGM, is designed in order to stabilize the quadcopter hovering. Then, the optimal parameter values for the controller are obtained. The current position of the robot, relative to the ArUco library marker, is computed using our proposed GSPnP algorithm and the images of the bottom camera. The current position is sent to the controller and the output is computed based on the ROS AR. Drone 2. 0 driver and is sent to the robot simulated in the Gazebo world. The results indicate a more accurate and desirable performance of GSPnP method and TGM Fuzzy controller in controlling the robot position compared with other methods with an error of less than 30, 40, and 20 millimeters in x, y, and z directions, respectively.

Cites

No record.

References

No record.

Cite

APA: Copy

E.Adli, S., SHOARAN, M., & S.Noorani, S.M.. (2019). Position Based Visual Hovering Control of the AR. Drone 2. 0 Quadcopter Using Fuzzy Logic. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, 49(2 (88) ), 709-720. SID. https://sid.ir/paper/256481/en

Vancouver: Copy

E.Adli S., SHOARAN M., S.Noorani S.M.. Position Based Visual Hovering Control of the AR. Drone 2. 0 Quadcopter Using Fuzzy Logic. TABRIZ JOURNAL OF ELECTRICAL ENGINEERING[Internet]. 2019;49(2 (88) ):709-720. Available from: https://sid.ir/paper/256481/en

IEEE: Copy

S. E.Adli, M. SHOARAN, and S.M. S.Noorani, “Position Based Visual Hovering Control of the AR. Drone 2. 0 Quadcopter Using Fuzzy Logic,” TABRIZ JOURNAL OF ELECTRICAL ENGINEERING, vol. 49, no. 2 (88) , pp. 709–720, 2019, [Online]. Available: https://sid.ir/paper/256481/en

Related Journal Papers