1. Controlling AR.Drone Using Fuzzy Logic Controller
Presented By:
Bushra Malla Hammoud
Bassem Al-Mahow
Supervised By:
Dr. Maisaa Abo Kassem

2. Questions!
What is Fuzzy
Logic?!

3. Questions!
What is Fuzzy
Logic?!
Why Fuzzy
Logic?

4. Questions!
What is Fuzzy
Logic?!
Why Fuzzy
Logic?
What is Fuzzy
Controller?

6. Fuzzy

7. Input
Output
If then&

9. Trajectory Tracking of AR.Drone
Quadrotor Using Fuzzy Logic Controller
Quadcopter See and Avoid Using
a Fuzzy Controller
FuzzyLogic Unmanned Air Vehicle
Motion Planning

10. AR.Drone

11. AR.Drone
Characteristic
Structure
What can do?
Characteristics
Characteristics
Structure

12. Characteristic
Structure
What can do?
Characteristics
What can AR.drone do?

13. Trajectory Tracking of
AR.Drone
Electrical Engineering Department
University of Surabaya
December 2014

14. Block diagram of FLC controlled system

15. Block diagram of FLC controlled system

17. Distance and angle calculation

18. R 02 m
input

19. input
Alpha -6060 d

20. output Pitch -0.0750.075 d

21. output Yaw -0.40.4 d

23. We
have
2*25
Rule

24. The testing procedure

25. The result on a straight reference trajectory

26. The result on a straight reference trajectory with
A turn

27. The result on a square’s trajectory

28. The result on a G trajectory

29. Demo

30. See and Avoid Using a
Fuzzy Controller
Queensland University of Technology,
Australia
2012

31. Visual System using The
Camshift algorithm-
rithm

32. Fuzzy Control System
input Yaw-controller
output

33. Angle -0.60.6 d
input

34. Difference -0.30.3 dinput

35. Yaw -12001200 d/soutput

36. The testing procedure

37. Demo

38. Fuzzy Logic Unmanned
Air Vehicle Motion
Planning
Department of Aerospace Engineering,
University of Cincinnati

39. Calculations

40. Calculations

41. Distance 060m
input

42. Angle -1.61.6d
input

43. Distance 030m
input

44. Angle -3.23.2d
input

45. Velocity 01m/soutput

46. Angle -1.61.6doutput

47. We have 40 rules

48. We have 40 rules

49. We have 40 rules

50. Results

51. Demo

52. Let’s … More
Demos
See

53. <thank you>