Fuzzy based visual servoing of MAV through staircase

This paper presents the visual servoing design of the micro aerial vehicle flying through the staircase. Two cameras mounted on the front and belly of the micro aerial vehicle are utilized to observe the stairs by turns. The visual features of the stairs, wall, railing, and the middle landing plane, are described to estimate the location and orientation of the micro aerial vehicle in the staircase. The obtained visual information is then used to be the bases of navigating the micro aerial vehicle. The visual servoing based on the fuzzy logic is proposed to control the micro aerial vehicle flying through the straight stairs and aligning the entrance of the stairs. The online flying in the staircase is verified in several experiments to demonstrate the efficiency of the overall system.