Landing of a quadcopter on a mobile base using fuzzy logic

Abstract

In this paper, we present control systems for an unmanned aerial vehicle (UAV) which provides aerial support for an unmanned ground vehicle (UGV). The UGV acts as a mobile launching pad for the UAV. The UAV provides additional environmental image feedback to the UGV. Our UAV of choice is a Parrot ArDrone 2.0 quadcopter, a small four rotored aerial vehicle, picked for its agile flight and video feedback capabilities. This paper presents design and simulation of fuzzy logic controllers for performing landing, hovering, and altitude control. Image processing and Mamdani-type inference are used for converting sensor input into control signals used to control the UAV. © 2014 Springer International Publishing Switzerland.