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Indoor Navigation For Unmanned Aerial Vehicles
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Book Synopsis Indoor Navigation Strategies for Aerial Autonomous Systems by : Pedro Castillo-Garcia
Download or read book Indoor Navigation Strategies for Aerial Autonomous Systems written by Pedro Castillo-Garcia and published by Butterworth-Heinemann. This book was released on 2016-11-10 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: Indoor Navigation Strategies for Aerial Autonomous Systems presents the necessary and sufficient theoretical basis for those interested in working in unmanned aerial vehicles, providing three different approaches to mathematically represent the dynamics of an aerial vehicle. The book contains detailed information on fusion inertial measurements for orientation stabilization and its validation in flight tests, also proposing substantial theoretical and practical validation for improving the dropped or noised signals. In addition, the book contains different strategies to control and navigate aerial systems. The comprehensive information will be of interest to both researchers and practitioners working in automatic control, mechatronics, robotics, and UAVs, helping them improve research and motivating them to build a test-bed for future projects. Provides substantial information on nonlinear control approaches and their validation in flight tests Details in observer-delay schemes that can be applied in real-time Teaches how an IMU is built and how they can improve the performance of their system when applying observers or predictors Improves prototypes with tactics for proposed nonlinear schemes
Book Synopsis Indoor Navigation for Unmanned Aerial Vehicles by :
Download or read book Indoor Navigation for Unmanned Aerial Vehicles written by and published by . This book was released on 2009 with total page 30 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environment are especially difficult for an Unmanned Aerial Vehicle (UAV) due to the complexity of UAV attitude and motion dynamics, as well as interference from external influences such as wind. By using a stable vehicle platform and taking advantage of the geometric structure typical of most indoor environments, the complexity of the localization and mapping problem can be reduced. Interior wall and obstacle location can be measured using low-cost range sensors. Relative vehicle location within the mapped environment can then be determined. By alternating between mapping and localization, a vehicle can explore its environment autonomously. This paper examines available low-cost range sensors for suitability in solving the mapping and localization problem. A control system and navigation algorithm are developed to perform mapping of indoor environments and localization. Simulation and experimental results are provided to determine feasibility of the proposed approach to indoor navigation.
Book Synopsis Map-Based Localization for Unmanned Aerial Vehicle Navigation by : Julien Francois Li-Chee-Ming
Download or read book Map-Based Localization for Unmanned Aerial Vehicle Navigation written by Julien Francois Li-Chee-Ming and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) require precise pose estimation when navigating in indoor and GNSS-denied / GNSS-degraded outdoor environments. The possibility of crashing in these environments is high, as spaces are confined, with many moving obstacles. There are many solutions for localization in GNSS-denied environments, and many different technologies are used. Common solutions involve setting up or using existing infrastructure, such as beacons, Wi-Fi, or surveyed targets. These solutions were avoided because the cost should be proportional to the number of users, not the coverage area. Heavy and expensive sensors, for example a high-end IMU, were also avoided. Given these requirements, a camera-based localization solution was selected for the sensor pose estimation. Several camera-based localization approaches were investigated. Map-based localization methods were shown to be the most efficient because they close loops using a pre-existing map, thus the amount of data and the amount of time spent collecting data are reduced as there is no need to re-observe the same areas multiple times. This dissertation proposes a solution to address the task of fully localizing a monocular camera onboard a UAV with respect to a known environment (i.e., it is assumed that a 3D model of the environment is available) for the purpose of navigation for UAVs in structured environments. Incremental map-based localization involves tracking a map through an image sequence. When the map is a 3D model, this task is referred to as model-based tracking. A by-product of the tracker is the relative 3D pose (position and orientation) between the camera and the object being tracked. State-of-the-art solutions advocate that tracking geometry is more robust than tracking image texture because edges are more invariant to changes in object appearance and lighting. However, model-based trackers have been limited to tracking small simple objects in small environments. An assessment was performed in tracking larger, more complex building models, in larger environments. A state-of-the art model-based tracker called ViSP (Visual Servoing Platform) was applied in tracking outdoor and indoor buildings using a UAVs low-cost camera. The assessment revealed weaknesses at large scales. Specifically, ViSP failed when tracking was lost, and needed to be manually re-initialized. Failure occurred when there was a lack of model features in the cameras field of view, and because of rapid camera motion. Experiments revealed that ViSP achieved positional accuracies similar to single point positioning solutions obtained from single-frequency (L1) GPS observations standard deviations around 10 metres. These errors were considered to be large, considering the geometric accuracy of the 3D model used in the experiments was 10 to 40 cm. The first contribution of this dissertation proposes to increase the performance of the localization system by combining ViSP with map-building incremental localization, also referred to as simultaneous localization and mapping (SLAM). Experimental results in both indoor and outdoor environments show sub-metre positional accuracies were achieved, while reducing the number of tracking losses throughout the image sequence. It is shown that by integrating model-based tracking with SLAM, not only does SLAM improve model tracking performance, but the model-based tracker alleviates the computational expense of SLAMs loop closing procedure to improve runtime performance. Experiments also revealed that ViSP was unable to handle occlusions when a complete 3D building model was used, resulting in large errors in its pose estimates. The second contribution of this dissertation is a novel map-based incremental localization algorithm that improves tracking performance, and increases pose estimation accuracies from ViSP. The novelty of this algorithm is the implementation of an efficient matching process that identifies corresponding linear features from the UAVs RGB image data and a large, complex, and untextured 3D model. The proposed model-based tracker improved positional accuracies from 10 m (obtained with ViSP) to 46 cm in outdoor environments, and improved from an unattainable result using VISP to 2 cm positional accuracies in large indoor environments. The main disadvantage of any incremental algorithm is that it requires the camera pose of the first frame. Initialization is often a manual process. The third contribution of this dissertation is a map-based absolute localization algorithm that automatically estimates the camera pose when no prior pose information is available. The method benefits from vertical line matching to accomplish a registration procedure of the reference model views with a set of initial input images via geometric hashing. Results demonstrate that sub-metre positional accuracies were achieved and a proposed enhancement of conventional geometric hashing produced more correct matches - 75% of the correct matches were identified, compared to 11%. Further the number of incorrect matches was reduced by 80%.
Book Synopsis Industrial Robotics by : Antoni Grau
Download or read book Industrial Robotics written by Antoni Grau and published by BoD – Books on Demand. This book was released on 2020-09-09 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, a new approach to the Industry 4.0 revolution is given. New policies and challenges appear and education in robotics also needs to be adapted to this new era. Together with new factory conceptualization, novel applications introduce new paradigms and new solutions to old problems. The factory opens its walls and outdoor applications are solved with new robot morphologies and new sensors that were unthinkable before Industry 4.0 era. This book presents nine chapters that propose a new outlook for an unstoppable revolution in industrial robotics, from drones to software robots
Book Synopsis Telematics and Computing by : Miguel Félix Mata-Rivera
Download or read book Telematics and Computing written by Miguel Félix Mata-Rivera and published by Springer Nature. This book was released on 2020-11-01 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed proceedings of the 9th International Congress on Telematics and Computing, WITCOM 2020, held in Puerto Vallarta, Mexico, in November 2020. Due to the COVID-19 pandemic the conference was held online. The 28 full papers and 3 short papers in this volume were carefully reviewed and selected from 79 submissions. The papers are focused on the topics of deep and machine learning, cybersecurity, wireless networks, computer vision, communications, and education applied to different sceneries of study and COVID-19.
Book Synopsis Drones and the Creative Industry by : Virginia Santamarina-Campos
Download or read book Drones and the Creative Industry written by Virginia Santamarina-Campos and published by Springer. This book was released on 2018-07-31 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access, interdisciplinary book presents innovative strategies in the use of civil drones in the cultural and creative industry. Specially aimed at small and medium-sized enterprises (SMEs), the book offers valuable insights from the fields of marketing, engineering, arts and management. With contributions from experts representing varied interests throughout the creative industry, including academic researchers, software developers and engineers, it analyzes the needs of the creative industry when using civil drones both outdoors and indoors. The book also provides timely recommendations to the industry, as well as guidance for academics and policymakers.
Book Synopsis Vision-aided Inertial Navigation System Design for Indoor Quadrotors by : Lianfeng Hou
Download or read book Vision-aided Inertial Navigation System Design for Indoor Quadrotors written by Lianfeng Hou and published by . This book was released on 2015 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: The navigation task for unmanned aerial vehicles (UAVs), such as quadrotors, in an indoor environment becomes challenging as the global positioning system (GPS) and the magnetometer may provide inaccurate aiding measurements and the signals may get jammed. The navigation system design in this thesis integrates a visual navigation block with a inertial navigation system block, which adds information about aiding measurements information for indoor navigation design. The direct visual measurements are feature coordinates that are obtained from images taken from an onboard monocular camera with different positions in the 3D world space. The scaled relative pose measurements are generated through vision algorithm implementations presented in this thesis. The vehicle states are estimated using the extended Kalman filter (EKF) with inputs from a gyroscope and accelerometer. The EKF sensor fusion process combines inertial measurements and the visual aid- ing measurement to get an optimal estimation. This thesis provides two design results: one navigation system assumes that the 3D world feature coordinates are known and that the navigation system is map-based for the feature ex- traction. The other navigation system does not require prior knowledge of the feature location and captures the feature based on map-less vision algorithms with geometry constraints.
Book Synopsis Embedded Platforms for UAS Landing Path and Obstacle Detection II by : Gennaro Ariante
Download or read book Embedded Platforms for UAS Landing Path and Obstacle Detection II written by Gennaro Ariante and published by Springer Nature. This book was released on with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Efficient Ranging-sensor Navigation Methods for Indoor Aircraft by : David Michael Sobers (Jr)
Download or read book Efficient Ranging-sensor Navigation Methods for Indoor Aircraft written by David Michael Sobers (Jr) and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles are often used for reconnaissance, search and rescue, damage assessment, exploration, and other tasks that are dangerous or prohibitively difficult for humans to perform. Often, these tasks include traversing indoor environments where radio links are unreliable, hindering the use of remote pilot links or ground-based control, and effectively eliminating Global Positioning System (GPS) signals as a potential localization method. As a result, any vehicle capable of indoor flight must be able to stabilize itself and perform all guidance, navigation, and control tasks without dependence on a radio link, which may be available only intermittently. Since the availability of GPS signals in unknown environments is not assured, other sensors must be used to provide position information relative to the environment. This research covers a description of different ranging sensors and methods for incorporating them into the overall guidance, navigation, and control system of a flying vehicle. Various sensors are analyzed to determine their performance characteristics and suitability for indoor navigation, including sonar, infrared range sensors, and a scanning laser rangefinder. Each type of range sensor tested has its own unique characteristics and contributes in a slightly different way to effectively eliminate the dependence on GPS.
Book Synopsis Drones in Smart-Cities by : Fadi Al-Turjman
Download or read book Drones in Smart-Cities written by Fadi Al-Turjman and published by Elsevier. This book was released on 2020-06-04 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drones in Smart-Cities: Security and Performance is the first book dedicated to drones in smart cities, helping address the many research challenges in bringing UAVs into practice. The book incorporates insights from the latest research in Internet of Things, big data, and cloud computing, 5G, and other communication technologies. It examines the design and implementation of UAV, focusing on data delivery, performability, and security. Intended for researchers, engineers, and practitioners, Drones in Smart-Cities: Security and Performance combines the technical aspects with academic theory to help implement the smart city vision around the globe. Addresses UAV and IoT for smart cities applications Examines topics as UAV safety, challenges, localization methods. QoS, simulation tools, and more Collect the relevant knowledge in one resource, saving research time and effort
Book Synopsis Visual-Inertial Indoor Navigation Systems and Algorithms for UAV Inspection Vehicles by : Marcello Chiaberge
Download or read book Visual-Inertial Indoor Navigation Systems and Algorithms for UAV Inspection Vehicles written by Marcello Chiaberge and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In UAV navigation, one of the challenges in which considerable efforts are being focused is to be able to move indoors. Completing this challenge would imply being able to respond to a series of industrial market needs such as the inspection of internal environments for safety purpose or the inventory of stored material. Usually GPS is used for navigation, but in a closed or underground environment, its signal is almost never available. As a consequence, to achieve the goal and ensure that the UAV is able to accurately estimate its position and orientation without the usage of GPS, an alternative navigation system based on visual-inertial algorithms and the SLAM will be proposed using data fusion techniques. In addition to the navigation system, we propose an obstacle avoidance method based on a Lidar sensor that allows navigation even in the absence of light.
Book Synopsis Navigation of Indoor Spaces Using Multiple Quadrotors by : Brian M. Katona
Download or read book Navigation of Indoor Spaces Using Multiple Quadrotors written by Brian M. Katona and published by . This book was released on 2018 with total page 57 pages. Available in PDF, EPUB and Kindle. Book excerpt: The operation of uninhabited aerial vehicles (UAVs) indoors faces many challenges, notably from the ineffectiveness of the sensors typically used on these vehicles for flight in outdoor environments, such as Global Navigation Satellite Systems (GNSS) and magnetometers. However, there are many situations when the ability to use a UAV indoors is desirable, such as for surveying underground infrastructure, performing inventory of a warehouse or assisting in search-and-rescue operations. This thesis addresses three challenges facing the autonomous indoor flight of UAVs. First, it proposes a platform for developing a low-cost UAV system using commercial-off-the-shelf hardware and open-source software. The system consists of one or more quadrotors, an ultrasonic beacon system and a ground control station. Next, it surveys methods for measuring the yaw of a vehicle in an indoor environment, including the magnetometer and computer vision techniques The thesis then proposes a method for using an ultrasonic beacon system to measure yaw. The advantages and disadvantages of each method are noted. Finally, the thesis introduces a technique for coordinating a network of multiple vehicles to provide localization to a vehicle performing a mission by moving the reference beacons of the ultrasonic beacon system throughout the space. The algorithm for choosing waypoints for each vehicle is described, and simulations for the algorithms are presented for multiple cases.
Book Synopsis Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery by : Hailong Huang
Download or read book Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery written by Hailong Huang and published by John Wiley & Sons. This book was released on 2022-09-27 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery Authoritative resource offering coverage of communication, surveillance, and delivery problems for teams of unmanned aerial vehicles (UAVs) Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery studies various elements of deployment of networks of unmanned aerial vehicle (UAV) base stations for providing communication to ground users in disaster areas, covering problems like ground traffic monitoring, surveillance of environmental disaster areas (e.g. brush fires), using UAVs in rescue missions, converting UAV video surveillance, and more. The work combines practical problems, implementable and computationally efficient algorithms to solve these problems, and mathematically rigorous proofs of each algorithm’s convergence and performance. One such example provided by the authors is a novel biologically inspired motion camouflage algorithm to covert video surveillance of moving targets by an unmanned aerial vehicle (UAV). All autonomous navigation and deployment algorithms developed in the book are computationally efficient, easily implementable in engineering practice, and based only on limited information on other UAVs of each and the environment. Sample topics discussed in the work include: Deployment of UAV base stations for communication, especially with regards to maximizing coverage and minimizing interference Deployment of UAVs for surveillance of ground areas and targets, including surveillance of both flat and uneven areas Navigation of UAVs for surveillance of moving areas and targets, including disaster areas and ground traffic monitoring Autonomous UAV navigation for covert video surveillance, offering extensive coverage of optimization-based navigation Integration of UAVs and public transportation vehicles for parcel delivery, covering both one-way and round trips Professionals in navigation and deployment of unmanned aerial vehicles, along with researchers, engineers, scientists in intersecting fields, can use Autonomous Navigation and Deployment of UAVs for Communication, Surveillance and Delivery to gain general knowledge on the subject along with practical, precise, and proven algorithms that can be deployed in a myriad of practical situations.
Book Synopsis Autonomous Flying Robots by : Kenzo Nonami
Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.
Book Synopsis Artificial Intelligence Science And Technology - Proceedings Of The 2016 International Conference (Aist2016) by : Hui Yang
Download or read book Artificial Intelligence Science And Technology - Proceedings Of The 2016 International Conference (Aist2016) written by Hui Yang and published by #N/A. This book was released on 2017-06-28 with total page 845 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 2016 International Conference on Artificial Intelligence Science and Technology (AIST2016) was held in Shanghai, China, from 15th to 17th July, 2016.AIST2016 aims to bring together researchers, engineers, and students to the areas of Artificial Intelligence Science and Technology. AIST2016 features unique mixed topics of artificial intelligence and application, computer and software, communication and network, information and security, data mining, and optimization.This volume consists of 101 peer-reviewed articles by local and foreign eminent scholars which cover the frontiers and state-of-art development in AI Technology.
Book Synopsis Algorithms for Unmanned Aerial Vehicle Navigation Systems: Simplified Navigation Algorithms for Small Unmanned Aerial Vehicles by : Vladimir Larin
Download or read book Algorithms for Unmanned Aerial Vehicle Navigation Systems: Simplified Navigation Algorithms for Small Unmanned Aerial Vehicles written by Vladimir Larin and published by Outskirts Press. This book was released on 2019-04-19 with total page 206 pages. Available in PDF, EPUB and Kindle. Book excerpt: The algorithms presented in this book were designed to achieve an acceptable trade-off between contradictive requirements to the software of small UAV navigation systems: sufficient accuracy and reliability in order to perform required flight missions on the one hand, and acceptable cost and simplicity of this software on the other hand. The core of modern navigation systems is integrated Strapdown Inertial Navigation System (SINS) and GPS, so in this book, the SINS algorithms and the algorithms of sensor fusion are described primarily. Inertial sensors (rate gyros and accelerometers) used in SINS are manufactured on the basis of the MEMS-technology. That is why they possess poor accuracy and need to be corrected with other sensors (GPS, magnetometers, and barometric altimeters). It is necessary to take into account that flight missions of small UAVs are characterized by small flight distances, small flight times, small flight speeds, etc. These properties of small UAV flight missions and properties of MEMS-sensors create a practical background for simplification of the SINS algorithms, simultaneously preserving their accuracy at acceptable levels. The navigation algorithms for gyro-free SINS are also considered. Increasing reliability of the UAV navigation systems requires a solution of the problems of the detection of the faulty sensors. These algorithms are described. Some practical aspects of the operation of navigation systems such as initial alignment, sensors calibration, and laboratory, ground, and flight testing of integrated SINS for small UAVs are also presented. This book will be useful for a wide circle of researchers, engineers, and graduate students involved in modern UAV design and manufacturing.
Book Synopsis The Present and Future of Indoor Navigation by : Laura Ruotsalainen
Download or read book The Present and Future of Indoor Navigation written by Laura Ruotsalainen and published by Artech House. This book was released on 2023-11-30 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Present and Future of Indoor Navigation provides a complete overview of the latest indoor navigation technologies, algorithms, and systems. It begins by discussing various types of sensors that can be used for indoor navigation, such as accelerometers, gyroscopes, barometers, magnetometers, and cameras. It covers the numerous algorithms that can be used to compute the navigation solution, including Kalman filtering, particle filtering, and machine learning. Also, it discusses the system implementation considerations for indoor navigation, such as infrastructure, data fusion, and security. The book’s focus is on present technologies and algorithms, as well as providing a look into the future possibilities for indoor navigation, making it a great resource for a wide audience. This includes researchers, engineers, and students who are interested in indoor navigation. It is also a valuable resource for anyone who wants to learn more about the latest technologies and algorithms for indoor navigation.
