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Performance Analysis For A Vision Based Target Tracking System Of A Small Unmanned Aerial Vehicle
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Book Synopsis Performance Analysis for a Vision-Based Target Tracking System of a Small Unmanned Aerial Vehicle by :
Download or read book Performance Analysis for a Vision-Based Target Tracking System of a Small Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis analyzes performance of the vision-based target-tracking system developed at the Naval Postgraduate School using the Monte Carlo method. Specifically, sensitivities of the target position estimation algorithm to various sensor errors are computed and analyzed. Furthermore, dependence of this algorithm on the performance of the target-tracking control system is established.
Book Synopsis Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle by :
Download or read book Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 41 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the tracking of a moving ground target by small unmanned air vehicle (UAV) via camera vision, the target position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter technique. The application and performance of these two filters are presented, for simulated vision based target tracking.
Book Synopsis Proceedings of the Fifth International Conference on Fuzzy and Neuro Computing (FANCCO - 2015) by : V. Ravi
Download or read book Proceedings of the Fifth International Conference on Fuzzy and Neuro Computing (FANCCO - 2015) written by V. Ravi and published by Springer. This book was released on 2015-11-24 with total page 365 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings bring together contributions from researchers from academia and industry to report the latest cutting edge research made in the areas of Fuzzy Computing, Neuro Computing and hybrid Neuro-Fuzzy Computing in the paradigm of Soft Computing. The FANCCO 2015 conference explored new application areas, design novel hybrid algorithms for solving different real world application problems. After a rigorous review of the 68 submissions from all over the world, the referees panel selected 27 papers to be presented at the Conference. The accepted papers have a good, balanced mix of theory and applications. The techniques ranged from fuzzy neural networks, decision trees, spiking neural networks, self organizing feature map, support vector regression, adaptive neuro fuzzy inference system, extreme learning machine, fuzzy multi criteria decision making, machine learning, web usage mining, Takagi-Sugeno Inference system, extended Kalman filter, Goedel type logic, fuzzy formal concept analysis, biclustering etc. The applications ranged from social network analysis, twitter sentiment analysis, cross domain sentiment analysis, information security, education sector, e-learning, information management, climate studies, rainfall prediction, brain studies, bioinformatics, structural engineering, sewage water quality, movement of aerial vehicles, etc.
Book Synopsis Robustness of Control Laws Implemented in Visual Based Target Tracking System by : Han Chuan Lee
Download or read book Robustness of Control Laws Implemented in Visual Based Target Tracking System written by Han Chuan Lee and published by . This book was released on 2009 with total page 65 pages. Available in PDF, EPUB and Kindle. Book excerpt: The previously developed guidance law implemented onboard the Small Unmanned Aerial Vehicle (SUAV) relies exclusively on the information from the image processing software and allows the performance of coordinated SUAV guidance and vision-based target tracking and motion estimation. This enables "passive only" coordinated tracking of noncooperative targets. An analysis of the system performance shows that the developed target tracking law demonstrates poor range holding capability when the target performs evasive maneuvers. Therefore, a new guidance law has been formulated by resolving SUAV dynamics with respect to the moving target frame, as opposed to the inertial frame in previous formulation. This simple modification results in theoretically achievable perfect range holding capability for the price of requiring the target motion information to be known. As a result, this new modification is based on the assumption of known target states, which in turn requires an implementation of a target motion estimator. An obvious tradeoff in performance of the "passive only" and "estimator based" target tracking systems is investigated in this thesis under realistic conditions including target loss events. This work extends previous results by investigating the performance of both guidance laws to the variation in target velocity and frequency of tracking loss events. The results obtained are based on the high fidelity 6DOF simulation implemented in SIMULINK, and analyzed using the multi-criteria optimization methodology introduced in the previous work. The results show that both guidance laws suffer predictable degradation in performance when subject to the external disturbances and tracking loss events. However, in the absence of tracking loss events, the new guidance law suffers less degradation in performance as compared to the old guidance law. When "frequency" of tracking loss events is low (less than 12%), the new guidance law is still able to provide better performance than the old guidance law As the "frequency" of tracking loss events increases further (between 12% to 25%), the performance of the new guidance law starts rapidly degrading, converging to that of the initial system; the target estimator is no longer able to provide a good prediction of the target velocity and heading to the guidance law.
Book Synopsis Development and Implementation of New Control Law for Vision Based Target Tracking System Onboard Small Unmanned Aerial Vehicles by : Boon Chong Tay
Download or read book Development and Implementation of New Control Law for Vision Based Target Tracking System Onboard Small Unmanned Aerial Vehicles written by Boon Chong Tay and published by . This book was released on 2006 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: A new control law is being developed and implemented for the Vision Based Target Tracking (VBTT) system onboard a small unmanned aerial vehicle (SUAV). The new control law allows for coordinated SUAV guidance and vision-based target tracking of stationary and moving targets in the presence of atmospheric disturbances and measurements noise. The new control law is tested for its performance and stability in both the theoretical 6DOF simulation and the Hardware-in-the-Loop (HIL) simulation. Principal results show that realistic measures of performance of the control law are continuous and exhibit predictable degradation of performance with increase of target speed. The results are encouraging and comparable among theoretical predictions, actual hardware simulation results, and initial flight testing. The control law development, implementation, and trial processes and procedures are also examined and categorically documented in this thesis as future reference on the subject development, as well as for better knowledge retention, continuation and proliferation of the VBTT system.
Book Synopsis Vision-Based Estimation and Tracking Using Multiple Unmanned Aerial Vehicles by : Mingfeng Zhang
Download or read book Vision-Based Estimation and Tracking Using Multiple Unmanned Aerial Vehicles written by Mingfeng Zhang and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Force Protection Via UGV-UVA Collaboration by :
Download or read book Force Protection Via UGV-UVA Collaboration written by and published by . This book was released on 2007 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School UAV Laboratory developed a Small Unmanned Aerial Vehicle (SUAV) equipped with a Vision Based Target Tracking (VBTT) system as part of its Tactical Network Topology field experimentation program. The VBTT system includes a miniaturized gimbaled camera that allows autonomous target tracking while providing concurrent estimates of target motion including its position, velocity and heading. Using the current control law, the speed of convergence and the range-holding performance have been found to deteriorate as target speed increases. The aim of this thesis is to elaborate on the existing control law in order to achieve better performance. Employing a new and novel algorithm from the Lyapunov Stability Analysis, for the purpose of adjusting the feedback gain, is proposed in this thesis; to that end a control law with adjustable gain can be easily implemented based on UAV-Target kinematics to optimize UAV performance. The performance of the newly adjustable gain control law is tested in both SIMULINK model and Hardware-In-the-Loop simulations to verify any improvement in performance over the constant gain control law. Principal results offer improved SUAV target-tracking performance with no additional hardware costs.
Book Synopsis Force Protection Via UGV-UAV Collaboration: Development of Control Law for Vision Based Target Tracking on SUAV. by :
Download or read book Force Protection Via UGV-UAV Collaboration: Development of Control Law for Vision Based Target Tracking on SUAV. written by and published by . This book was released on 2007 with total page 107 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Naval Postgraduate School UAV Laboratory developed a Small Unmanned Aerial Vehicle (SUAV) equipped with a Vision Based Target Tracking (VBTT) system as part of its Tactical Network Topology field experimentation program. The VBTT system includes a miniaturized gimbaled camera that allows autonomous target tracking while providing concurrent estimates of target motion including its position velocity and heading. Using the current control law the speed of convergence and the range-holding performance have been found to deteriorate as target speed increases. The aim of this thesis is to elaborate on the existing control law in order to achieve better performance. Employing a new and novel algorithm from the Lyapunov Stability Analysis for the purpose of adjusting the feedback gain is proposed in this thesis; to that end a control law with adjustable gain can be easily implemented based on UAV-Target kinematics to optimize UAV performance. The performance of the newly adjustable gain control law is tested in both SIMULINK model and Hardware-In-the-Loop simulations to verify any improvement in performance over the constant gain control law. Principal results offer improved SUAV target-tracking performance with no additional hardware costs.
Book Synopsis Vision-based Guidance for Air-to-air Tracking and Rendezvous of Unmanned Aircraft Systems by : Joseph W. Nichols
Download or read book Vision-based Guidance for Air-to-air Tracking and Rendezvous of Unmanned Aircraft Systems written by Joseph W. Nichols and published by . This book was released on 2013 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: An analysis of the visual pursuit method is provided using the method of adjoints to evaluate the effects of airspeed, closing velocity, system time constant, sensor delay and target motion on docking performance. A method for predicting docking accuracy is developed and shown to be useful for predicting docking performance for small and large unmanned aircraft systems.
Book Synopsis New Trends in Optimal Filtering and Control for Polynomial and Time-Delay Systems by : Michael Basin
Download or read book New Trends in Optimal Filtering and Control for Polynomial and Time-Delay Systems written by Michael Basin and published by Springer Science & Business Media. This book was released on 2008-09-23 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: 0. 1 Introduction Although the general optimal solution of the ?ltering problem for nonlinear state and observation equations confused with white Gaussian noises is given by the Kushner equation for the conditional density of an unobserved state with respect to obser- tions (see [48] or [41], Theorem 6. 5, formula (6. 79) or [70], Subsection 5. 10. 5, formula (5. 10. 23)), there are a very few known examples of nonlinear systems where the Ku- ner equation can be reduced to a ?nite-dimensional closed system of ?ltering eq- tions for a certain number of lower conditional moments. The most famous result, the Kalman-Bucy ?lter [42], is related to the case of linear state and observation equations, where only two moments, the estimate itself and its variance, form a closed system of ?ltering equations. However, the optimal nonlinear ?nite-dimensional ?lter can be - tained in some other cases, if, for example, the state vector can take only a ?nite number of admissible states [91] or if the observation equation is linear and the drift term in the 2 2 state equation satis?es the Riccati equation df /dx + f = x (see [15]). The complete classi?cation of the “general situation” cases (this means that there are no special - sumptions on the structure of state and observation equations and the initial conditions), where the optimal nonlinear ?nite-dimensional ?lter exists, is given in [95].
Book Synopsis Real-time Implementation of an Asynchronous Vision-based Target Tracking System in an Unmanned Aerial Vehicle by :
Download or read book Real-time Implementation of an Asynchronous Vision-based Target Tracking System in an Unmanned Aerial Vehicle written by and published by . This book was released on 2007 with total page 141 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, small unmanned aerial vehicles developed by NPS have been able to locate and track stationary and moving targets on the ground. New methods of continuous target tracking are always being developed to improve speed and accuracy, ultimately aiding the user of the system. This thesis describes one such method, utilizing an open loop filter as well as an external correction source: Perspective View Nascent Technologies (PVNT). While the PVNT correction can theoretically improve the accuracy from 20-30 meters to 1-2 meters, it does have a disadvantage in that the target position updates are delayed anywhere from 1-10 seconds. In order to account for the delay, an asynchronous filter is used to update the target position data given the external position correction from PVNT. Two cases have been tested including the general filter and one that utilizes a road model in the calculations. While an earlier thesis developed the basic simulation for the system, this thesis discusses improvements and corrections to the simulation model as well as the necessary steps for real-time implementation.
Book Synopsis Optimal Control and Coordination of Small UAVs for Vision-based Target Tracking by : Steven Andrew Provencio Quintero
Download or read book Optimal Control and Coordination of Small UAVs for Vision-based Target Tracking written by Steven Andrew Provencio Quintero and published by . This book was released on 2014 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small unmanned aerial vehicles (UAVs) are relatively inexpensive mobile sensing platforms capable of reliably and autonomously performing numerous tasks, including mapping, search and rescue, surveillance and tracking, and real-time monitoring. The general problem of interest that we address is that of using small, fixed-wing UAVs to perform vision-based target tracking, which entails that one or more camera-equipped UAVs is responsible for autonomously tracking a moving ground target. In the single-UAV setting, the underactuated UAV must maintain proximity and visibility of an unpredictable ground target while having a limited sensing region. We provide solutions from two different vantage points. The first regards the problem as a two-player zero-sum game and the second as a stochastic optimal control problem. The resulting control policies have been successfully field-tested, thereby verifying the efficacy of both approaches while highlighting the advantages of one approach over the other.
Book Synopsis Vision Based Systemsfor UAV Applications by : Aleksander Nawrat
Download or read book Vision Based Systemsfor UAV Applications written by Aleksander Nawrat and published by Springer. This book was released on 2013-12-06 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.
Book Synopsis Hardware in the Loop Implementation of Adaptive Vision Based Guidance Law for Ground Target Tracking by : Mun Lok Bernard Soh
Download or read book Hardware in the Loop Implementation of Adaptive Vision Based Guidance Law for Ground Target Tracking written by Mun Lok Bernard Soh and published by . This book was released on 2008 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive guidance law of a Vision Based Target Tracking (VBTT) system was previously developed and implemented onboard a Small Unmanned Aerial Vehicle (SUAV) in order to track a ground target moving with a constant velocity. This work extends previous results by considering scenarios where the variation of target velocity, in both magnitude and direction, is used to excite the feedback control law for further robustness analysis. This provides essential insight on the sensitivity of the performance criteria indicated by the range holding capability, navigation error and the convergence speed of the guidance law. In addition, this thesis addresses the robustness of the SUAV guidance law to the generalized time delay in feedback due to, for example, data processing or communications lag. This thesis also extends the previously obtained results by introducing a multi-criteria optimization technique. The results obtained are first based on the numerical simulations implemented in SIMULINK and then in high fidelity HIL simulation environment with Piccolo Plus AP in the control loop. Initial steps in developing Vision Based HIL environment incorporating TASE gimbal, Piccolo Plus AP, Pan-Tilt unit and image processing software are presented. The work also includes motivation for the development, an overview of the existing technologies, and initial implementation of low-level driving mechanism (drivers) for the realistic representation of the real-world environment.
Book Synopsis Moving Object Detection and Segmentation for Remote Aerial Video Surveillance by : Teutsch, Michael
Download or read book Moving Object Detection and Segmentation for Remote Aerial Video Surveillance written by Teutsch, Michael and published by KIT Scientific Publishing. This book was released on 2015-03-11 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) equipped with video cameras are a flexible support to ensure civil and military safety and security. In this thesis, a video processing chain is presented for moving object detection in aerial video surveillance. A Track-Before-Detect (TBD) algorithm is applied to detect motion that is independent of the camera motion. Novel robust and fast object detection and segmentation approaches improve the baseline TBD and outperform current state-of-the-art methods.
Author :Vania V. Estrela Publisher :Institution of Engineering and Technology ISBN 13 :1785616420 Total Pages :361 pages Book Rating :4.7/5 (856 download)
Book Synopsis Imaging and Sensing for Unmanned Aircraft Systems by : Vania V. Estrela
Download or read book Imaging and Sensing for Unmanned Aircraft Systems written by Vania V. Estrela and published by Institution of Engineering and Technology. This book was released on 2020-02-01 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: This two-volume book set explores how sensors and computer vision technologies are used for the navigation, control, stability, reliability, guidance, fault detection, self-maintenance, strategic re-planning and reconfiguration of unmanned aircraft systems (UAS). Volume 1 concentrates on UAS control and performance methodologies including Computer Vision and Data Storage, Integrated Optical Flow for Detection and Avoidance Systems, Navigation and Intelligence, Modeling and Simulation, Multisensor Data Fusion, Vision in Micro-Aerial Vehicles (MAVs), Computer Vision in UAV using ROS, Security Aspects of UAV and Robot Operating System, Vision in Indoor and Outdoor Drones, Sensors and Computer Vision, and Small UAV for Persistent Surveillance. Volume 2 focuses on UAS deployment and applications including UAV-CPSs as a Testbed for New Technologies and a Primer to Industry 5.0, Human-Machine Interface Design, Open Source Software (OSS) and Hardware (OSH), Image Transmission in MIMO-OSTBC System, Image Database, Communications Requirements, Video Streaming, and Communications Links, Multispectral vs Hyperspectral Imaging, Aerial Imaging and Reconstruction of Infrastructures, Deep Learning as an Alternative to Super Resolution Imaging, and Quality of Experience (QoE) and Quality of Service (QoS).
Book Synopsis Small Unmanned Aircraft by : Randal W. Beard
Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
