Quadcopter See and Avoid Using a Fuzzy Controller

Unmanned Aerial Vehicles (UAVs) are fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors. Until UAVs demonstrate advance capabilities such as autonomous collision they will be segregated and restricted to flight in controlled environments. This work presents a visual fuzzy servoing system for obstacle avoidance using UAVs. To accomplish this task we used the visual information from the front camera only. This image is processed off-board and the information is send to the Fuzzy Logic controller which then send commands to modify the orientation of the aircraft. Results from flight test are presented with a commercial off-the-shelf platform.