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Author :
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (141 download)
Download or read book Autonomous Obstacle Avoidance for Drone Navigation Based on Real-time Depth Estimation written by and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Keeryun Kang
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (825 download)
Download or read book Online Optimal Obstacle Avoidance for Rotary-wing Autonomous Unmanned Aerial Vehicles written by Keeryun Kang and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents an integrated framework for online obstacle avoidance of rotary-wing unmanned aerial vehicles (UAVs), which can provide UAVs an obstacle field navigation capability in a partially or completely unknown obstacle-rich environment. The framework is composed of a LIDAR interface, a local obstacle grid generation, a receding horizon (RH) trajectory optimizer, a global shortest path search algorithm, and a climb rate limit detection logic. The key feature of the framework is the use of an optimization-based trajectory generation in which the obstacle avoidance problem is formulated as a nonlinear trajectory optimization problem with state and input constraints over the finite range of the sensor. This local trajectory optimization is combined with a global path search algorithm which provides a useful initial guess to the nonlinear optimization solver. Optimization is the natural process of finding the best trajectory that is dynamically feasible, safe within the vehicle's flight envelope, and collision-free at the same time. The optimal trajectory is continuously updated in real time by the numerical optimization solver, Nonlinear Trajectory Generation (NTG), which is a direct solver based on the spline approximation of trajectory for dynamically flat systems. In fact, the overall approach of this thesis to finding the optimal trajectory is similar to the model predictive control (MPC) or the receding horizon control (RHC), except that this thesis followed a two-layer design; thus, the optimal solution works as a guidance command to be followed by the controller of the vehicle. The framework is implemented in a real-time simulation environment, the Georgia Tech UAV Simulation Tool (GUST), and integrated in the onboard software of the rotary-wing UAV test-bed at Georgia Tech. Initially, the 2D vertical avoidance capability of real obstacles was tested in flight. Then the flight test evaluations were extended to the benchmark tests for 3D avoidance capability over the virtual obstacles, and finally it was demonstrated on real obstacles located at the McKenna MOUT site in Fort Benning, Georgia. Simulations and flight test evaluations demonstrate the feasibility of the developed framework for UAV applications involving low-altitude flight in an urban area.
Author : Clément Pinard
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (112 download)
Download or read book Robust Learning of a Depth Map for Obstacle Avoidance with a Monocular Stabilized Flying Camera written by Clément Pinard and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Customer unmanned aerial vehicles (UAVs) are mainly flying cameras. They democratized aerial footage, but with thei success came security concerns.This works aims at improving UAVs security with obstacle avoidance, while keeping a smooth flight. In this context, we use only one stabilized camera, because of weight and cost incentives.For their robustness in computer vision and thei capacity to solve complex tasks, we chose to use convolutional neural networks (CNN). Our strategy is based on incrementally learning tasks with increasing complexity which first steps are to construct a depth map from the stabilized camera. This thesis is focused on studying ability of CNNs to train for this task.In the case of stabilized footage, the depth map is closely linked to optical flow. We thus adapt FlowNet, a CNN known for optical flow, to output directly depth from two stabilized frames. This network is called DepthNet.This experiment succeeded with synthetic footage, but is not robust enough to be used directly on real videos. Consequently, we consider self supervised training with real videos, based on differentiably reproject images. This training method for CNNs being rather novel in literature, a thorough study is needed in order not to depend too moch on heuristics.Finally, we developed a depth fusion algorithm to use DepthNet efficiently on real videos. Multiple frame pairs are fed to DepthNet to get a great depth sensing range.
Author : Christian Laugier
Publisher : Springer
ISBN 13 : 3540734228
Total Pages : 176 pages
Book Rating : 4.5/5 (47 download)
Download or read book Autonomous Navigation in Dynamic Environments written by Christian Laugier and published by Springer. This book was released on 2007-10-14 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a foundation for a broad class of mobile robot mapping and navigation methodologies for indoor, outdoor, and exploratory missions. It addresses the challenging problem of autonomous navigation in dynamic environments, presenting new ideas and approaches in this emerging technical domain. Coverage discusses in detail various related challenging technical aspects and addresses upcoming technologies in this field.
Author : Ildar Batyrshin
Publisher : Springer
ISBN 13 : 3030044971
Total Pages : 388 pages
Book Rating : 4.0/5 (3 download)
Download or read book Advances in Computational Intelligence written by Ildar Batyrshin and published by Springer. This book was released on 2019-01-02 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two-volume set LNAI 11288 and 11289 constitutes the proceedings of the 17th Mexican International Conference on Artificial Intelligence, MICAI 2018, held in Guadalajara, Mexico, in October 2018. The total of 62 papers presented in these two volumes was carefully reviewed and selected from 149 submissions. The contributions are organized in topical as follows: Part I: evolutionary and nature-inspired intelligence; machine learning; fuzzy logic and uncertainty management. Part II: knowledge representation, reasoning, and optimization; natural language processing; and robotics and computer vision.
Author : Andrey V. Savkin
Publisher : Butterworth-Heinemann
ISBN 13 : 0128037571
Total Pages : 360 pages
Book Rating : 4.1/5 (28 download)
Download or read book Safe Robot Navigation Among Moving and Steady Obstacles written by Andrey V. Savkin and published by Butterworth-Heinemann. This book was released on 2015-09-25 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safe Robot Navigation Among Moving and Steady Obstacles is the first book to focus on reactive navigation algorithms in unknown dynamic environments with moving and steady obstacles. The first three chapters provide introduction and background on sliding mode control theory, sensor models, and vehicle kinematics. Chapter 4 deals with the problem of optimal navigation in the presence of obstacles. Chapter 5 discusses the problem of reactively navigating. In Chapter 6, border patrolling algorithms are applied to a more general problem of reactively navigating. A method for guidance of a Dubins-like mobile robot is presented in Chapter 7. Chapter 8 introduces and studies a simple biologically-inspired strategy for navigation a Dubins-car. Chapter 9 deals with a hard scenario where the environment of operation is cluttered with obstacles that may undergo arbitrary motions, including rotations and deformations. Chapter 10 presents a novel reactive algorithm for collision free navigation of a nonholonomic robot in unknown complex dynamic environments with moving obstacles. Chapter 11 introduces and examines a novel purely reactive algorithm to navigate a planar mobile robot in densely cluttered environments with unpredictably moving and deforming obstacles. Chapter 12 considers a multiple robot scenario. For the Control and Automation Engineer, this book offers accessible and precise development of important mathematical models and results. All the presented results have mathematically rigorous proofs. On the other hand, the Engineer in Industry can benefit by the experiments with real robots such as Pioneer robots, autonomous wheelchairs and autonomous mobile hospital. First book on collision free reactive robot navigation in unknown dynamic environments Bridges the gap between mathematical model and practical algorithms Presents implementable and computationally efficient algorithms of robot navigation Includes mathematically rigorous proofs of their convergence A detailed review of existing reactive navigation algorithm for obstacle avoidance Describes fundamentals of sliding mode control
Author : Bruce Donald
Publisher : CRC Press
ISBN 13 : 1439864136
Total Pages : 390 pages
Book Rating : 4.4/5 (398 download)
Download or read book Algorithmic and Computational Robotics written by Bruce Donald and published by CRC Press. This book was released on 2001-04-21 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt: Algorithms that control the computational processes relating sensors and actuators are indispensable for robot navigation and the perception of the world in which they move. Therefore, a deep understanding of how algorithms work to achieve this control is essential for the development of efficient and usable robots in a broad field of applications.
Author : James A. Devens
Publisher :
ISBN 13 :
Total Pages : 88 pages
Book Rating : 4.:/5 (957 download)
Download or read book Autonomous Navigation with Obstacle Avoidance for Unmanned Aircraft Systems Using MILP written by James A. Devens and published by . This book was released on 2016 with total page 88 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous coordination among multiple aerial vehicles to ensure a collision free airspace is a critical aspect of today's airspace. With the rise of Unmanned Aerial Vehicles (UAVs) in the military and commercial sectors, obstacle avoidance in a densely populated airspace is necessary. This thesis investigates finding optimal or near-optimal trajectories in real-time for aircraft in complex airspaces containing a large number of obstacles. The solution for the trajectories is described as a linear program subject to mixed integer constraints, known as a Mixed Integer Linear Program (MILP). The resulting MILP problem is solved in real time using a well-known, public domain MILP solver. In addition, an Exhaustive, Breadth-First Search algorithm was implemented and is used for comparison in terms of execution time and flight path optimality. The Exhaustive Search algorithm is comprised of a multi-branch tree structure that iterates through all possible flight paths from source to target. The MILP solution was implemented in both PC based and embedded system environments. The embedded system environment was implemented on an onboard processor to develop trajectories for each individual aircraft in real time.
Author : Jacques Chadwick Leedekerken
Publisher :
ISBN 13 :
Total Pages : 120 pages
Book Rating : 4.:/5 (622 download)
Download or read book Feature-relative Real-time Obstacle Avoidance and Mapping written by Jacques Chadwick Leedekerken and published by . This book was released on 2005 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: A substantial challenge in robotics is integration of complex software systems for real- time performance. This thesis integrates the robust and generic mapping framework Atlas, a feature-based local Simultaneous Localization and Mapping (SLAM) module, and obstacle avoidance using information from mapped features. The resulting system performs autonomous feature-relative Real-time Obstacle Avoidance and Mapping (ROAM) with laser or sonar range sensors, and results are shown for wide-beam sonar. This system will allow high-speed feature-relative obstacle and avoidance and navigation on mobile robots with wide-beam sonar and/or laser sensors.
Author : Ke Qiu
Publisher :
ISBN 13 :
Total Pages : 192 pages
Book Rating : 4.:/5 (32 download)
Download or read book Autonomous Land Vehicle Navigations written by Ke Qiu and published by . This book was released on 1988 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Cédric Pradalier
Publisher : Springer Science & Business Media
ISBN 13 : 3642194567
Total Pages : 752 pages
Book Rating : 4.6/5 (421 download)
Download or read book Robotics Research written by Cédric Pradalier and published by Springer Science & Business Media. This book was released on 2011-05-02 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents a collection of papers presented at the 14th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 14th edition took place in Lucerne, Switzerland, from August 31st to September 3rd, 2009. As for the previous symposia, ISRR 2009 followed up on the successful concept of a mixture of invited contributions and open submissions. Half of the 48 presentations were therefore invited contributions from outstanding researchers selected by the IFRR officers, and half were chosen among the 66 submissions after peer review. This selection process resulted in a truly excellent technical program which, we believe, featured some of the very best of robotic research. Out of the 48 presentations, the 42 papers which were finally submitted for publication are organized in 8 sections that encompass the major research orientations in robotics: Navigation, Control & Planning, Human-Robot Interaction, Manipulation and Humanoids, Learning, Mapping, Multi-Robot Systems, and Micro-Robotics. They represent an excellent snapshot of cutting-edge research in robotics and outline future directions.
Author : Jinyang Guo
Publisher : Springer Nature
ISBN 13 : 9819761255
Total Pages : 215 pages
Book Rating : 4.8/5 (197 download)
Download or read book Generalizing from Limited Resources in the Open World written by Jinyang Guo and published by Springer Nature. This book was released on 2024 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the Proceedings from the Second International Workshop GLOW 2024 held in conjunction with the International Joint Conference on Artificial Intelligence, IJCAI 2024, in Jeju Island, South Korea, in August 2024. The 11 full papers and 4 short papers included in this book were carefully reviewed and selected from 22 submissions. They were organized in topical sections as follows: efficient methods for low-resource hardware; efficient fintuning with limited data; advancements in multimodal systems; recognition and reasoning in the open world.
Author : Om Krishna Gupta
Publisher :
ISBN 13 :
Total Pages : 372 pages
Book Rating : 4.:/5 (11 download)
Download or read book Spatio-temporal Probabilistic Path Planning for Autonomous Robot Navigation written by Om Krishna Gupta and published by . This book was released on 2011 with total page 372 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, robotic technology has improved significantly, aided by cutting-edge scientific research studies and innovative industrial designs. It has taken a progressive leap from the coordinated world of industry to the less-ordered domestic domain with great advancements in sensor technology and computational intelligence. It is beginning to prove more useful than a robot vacuum cleaner or a mere plaything in human-centric spaces. This has created an imminent need for robust intelligence for a robot to move optimally with high efficiency and collision-free navigation. This research provides valuable insights into all significant stages required for autonomous navigation in dynamic cluttered environments and makes several important contributions in the area.A unique and real-time method for global path planning and collision avoidance for navigation of a mobile robot in complex time varying environments is developed. An occupancy-based three dimensional (3D) grid map and model-based obstacle prediction are employed to represent the dynamic environment. Path planning and obstacle avoidance are performed by applying a cost-evaluation function on time-space Distance Transforms to uniquely produce the optimal path at the time of planning. Dealing with uncertainty with regard to the position of obstacles for a given navigation task is accommodated by introducing the notion of probabilities to the algorithm. The spatio-temporal cost evaluation based path planning algorithm provides the key contribution of this research.A robust method of pose estimation and tracking for a mobile robot is also investigated. The technique utilises an overhead panoramic vision camera in an indoor cluttered environment with the robot workspace of a two-dimensional planar surface. It is fast and does not require any unwarping of the panoramic view. A unique system, combining mean-shift, Kalman Filter and Hough Transform-based tracking, is used to improve the result. Experiments are conducted confirming that the system is capable of reliably localising and tracking the robot in cluttered scenes with variations of illumination and periods of occlusion.The thesis commences by describing the design of a real-time open-source 3D simulation platform based on a game engine. The platform is primarily aimed towards research in mobile robotics, in-game character manipulation, visual surveillance-related research and high quality synthetic video generation. It provided the initial test-bed for this research to analyse ideas and algorithms including path planning, prior to the physical realisation experiments.Finally, a complete navigation system is integrated for a wheel-based mobile robot verifying the innovations in a real-world scenario. The system will be incorporated into a larger project that is aimed towards the enhancement of robotic assistive technologies for elderly and disabled people.
Author : Prateek Burman
Publisher :
ISBN 13 :
Total Pages : 50 pages
Book Rating : 4.:/5 (974 download)
Download or read book Quadcopter Stabilization with Neural Network written by Prateek Burman and published by . This book was released on 2016 with total page 50 pages. Available in PDF, EPUB and Kindle. Book excerpt: UAVs (Unmanned Aerial Vehicle), also known as drones, are becoming attractive in the consumer space due to their relatively low cost and their ability to operate autonomously with minimal human intervention. A user could program the drone with GPS coordinates, and the drone would comply with utmost precision. In order for the drone to operate a preprogrammed flight path, it requires a host of sensors for it to gather data and operate on that data in real time. For instance, a consumer drone typically has obstacle avoidance sensors, a GPS sensor for routing and navigation, and an IMU (Inertial Measurement Unit) for tracking position and orientation. These sensors play a crucial role in both stabilization and navigation of the drone. This report aims to investigate, analyze and understand the complexity involved in designing and implementing an autonomous quadcopter; specifically, the stabilization algorithms. In general, stabilization is achieved using some form of control algorithm. The report covers a popular approach for stabilization (PID Control) found with many open source libraries and contrasts it with an alternative machine learning approach (Neural Networks). Finally, a machine learning based algorithm is implemented and evaluated on a prototype quadcopter, and its results are presented.
Author : Yuxin Peng
Publisher : Springer
ISBN 13 : 3030026981
Total Pages : 692 pages
Book Rating : 4.0/5 (3 download)
Download or read book Intelligence Science and Big Data Engineering written by Yuxin Peng and published by Springer. This book was released on 2018-11-08 with total page 692 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 8th International Conference on Intelligence Science and Big DataEngineering, IScIDE 2018, held in Lanzhou, China, in August 2018.The 59 full papers presented in this book were carefully reviewed and selected from 121 submissions.They are grouped in topical sections on robots and intelligent systems; statistics and learning; deep learning; objects and language; classification and clustering; imaging; and biomedical signal processing.
Author : Vignesh Babu
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (134 download)
Download or read book ADAPTIVE LONG TERM TRACKING AND AUTONOMOUS FOLLOWING USING STEREO-CAMERA OF AN UNMANNED AERIAL VEHICLE WITH COLLISION AVOIDANCE. written by Vignesh Babu and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles commercially called quadcopters or drones have become increasingly popular over recent years, delving into wide range of fields from medicine for providing immediate health care or in agriculture for locating damaged crops using special sensors to being used in quarries for 3d mapping. We focus on the application of drones in adaptive long term tracking of an object-of-interest and following it with necessary collision avoidance. For this we have implemented a tracking framework called TLD, employing an integrated stereo camera on-board the commercial drone Spiri as the sensor to perform long-term tracking of a target object and use the depth map generated from the disparity of the stereo camera to maintain necessary distance from the target. This is built over the ROS framework. We examine and demonstrate this design in real-time on a commercial drone with monocular camera and in simulation on a model drone integrated with stereo camera. We further refined the tracking process by remodeling TLDs tracker to work with SIFT features supplemented by depth information. We present the evaluation results to show the improvements achieved by our algorithm to autonomously maneuver the drone in making smooth and rapid transitions and then provide comparisons to show improved tracking resilience against modest change in object appearance immediately following system initialization.
Author : Carsten Steger
Publisher : John Wiley & Sons
ISBN 13 : 3527413650
Total Pages : 533 pages
Book Rating : 4.5/5 (274 download)
Download or read book Machine Vision Algorithms and Applications written by Carsten Steger and published by John Wiley & Sons. This book was released on 2018-03-12 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this successful machine vision textbook is completely updated, revised and expanded by 35% to reflect the developments of recent years in the fields of image acquisition, machine vision algorithms and applications. The new content includes, but is not limited to, a discussion of new camera and image acquisition interfaces, 3D sensors and technologies, 3D reconstruction, 3D object recognition and state-of-the-art classification algorithms. The authors retain their balanced approach with sufficient coverage of the theory and a strong focus on applications. All examples are based on the latest version of the machine vision software HALCON 13.
