2013
DOI: 10.1007/s10846-013-9918-3
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Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

Abstract: In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied environments using Monocular Visual-Inertial SLAM-based strategy. The function of this FLC aims to control the heading of Fail-Safe UAV to avoid the obstacle, e.g. wall, bridge, tree line et al, using its real-time and accurate localization information. In the Matlab Simulink-based training framework, the Scaling Factor (SF) i… Show more

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Cited by 51 publications
(33 citation statements)
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References 49 publications
(53 reference statements)
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“…Although there are a number of FLC applications for navigating a quadcopter UAV in literature, e.g., [11], most of these are SFLCs, which focus on high level navigation, rather than exploring the effect of various levels of input uncertainty on the control performance. On the other hand, it is reported in literature that NSFLCs give more promising results when compared to their singleton counterparts for non-linear servo system [12], chaotic time series prediction [13], etc.…”
Section: Changhongmentioning
confidence: 99%
“…Although there are a number of FLC applications for navigating a quadcopter UAV in literature, e.g., [11], most of these are SFLCs, which focus on high level navigation, rather than exploring the effect of various levels of input uncertainty on the control performance. On the other hand, it is reported in literature that NSFLCs give more promising results when compared to their singleton counterparts for non-linear servo system [12], chaotic time series prediction [13], etc.…”
Section: Changhongmentioning
confidence: 99%
“…The total mass of the robot is 900Kg with a length of 4m. Other platforms such as the Titan-IX [9] and the SILO6 [10] show that legged-robots are able to navigate more precisely over roughly terrains than wheeled-robots. Nonetheless, both wheeled and legged mechanisms are simply too expensive and heavy to be used within the Colombian context, where the military must transport tons of equipment to difficult access locations.…”
Section: Related Workmentioning
confidence: 99%
“…The bottom camera has a field of view of 47.5 o with a resolution of 320 × 240 pixels at 60 fps. Despite the hardware and onboard processing limitations of this robot, the AR.Drone 2.0 has been used in several research projects in control [10], autonomous navigation [7], image processing [14] and swarm robotics, due to its low cost and robust mainframe. In this project, we installed a commercial GPS sensor onboard the AR.Drone quadrotor called Flight Recorder.…”
Section: The Low-cost Quadrotor-based Uavmentioning
confidence: 99%
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“…They are able to deliver adequate control and handle uncertainties without the requirement of an accurate mathematical UAV model. Among the different types of FLCs, singleton FLCs (SFLCs) are the most common FLCs used for the UAVs [11]. However, SFLCs are not capable of capturing input uncertainties effectively.…”
Section: Introductionmentioning
confidence: 99%