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Uav Object Based Semi Autonomous And Autonomous Navigation
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Book Synopsis UAV Object-based Semi-autonomous and Autonomous Navigation by : Amirmasoud Ghasemi Toudeshki
Download or read book UAV Object-based Semi-autonomous and Autonomous Navigation written by Amirmasoud Ghasemi Toudeshki and published by . This book was released on 2021 with total page 47 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we have developed a semi-autonomous behavior that allows us to control a drone with less effort. We have also presented a technique that enables autonomous repeating of a previously traversed route using the visual navigation system. Our first application demonstrates an experiment with driving a drone using a vision-based control (visual servoing) method, particularly by tracking selected targets in an image view. In the second application, a drone equipped with a monocular camera has been derived manually on a path. Invariant semantic features (i.e., objects) have been extracted using an object detection neural network, YOLO. Using these features, we show that the drone can repeat the traversed route autonomously independently from the lighting condition and even appearance changes.
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 Navigation and Teleoperation of Unmanned Aerial Vehicles Using Monocular Vision by : Diego Alberto Mercado-Ravell
Download or read book Autonomous Navigation and Teleoperation of Unmanned Aerial Vehicles Using Monocular Vision written by Diego Alberto Mercado-Ravell and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present document addresses, theoretically and experimentally, the most relevant topics for Unmanned Aerial Vehicles (UAVs) in autonomous and semi-autonomous navigation. According with the multidisciplinary nature of the studied problems, a wide range of techniques and theories are covered in the fields of robotics, automatic control, computer science, computer vision and embedded systems, among others. As part of this thesis, two different experimental platforms were developed in order to explore and evaluate various theories and techniques of interest for autonomous navigation. The first prototype is a quadrotor specially designed for outdoor applications and was fully developed in our lab. The second testbed is composed by a non expensive commercial quadrotor kind AR. Drone, wireless connected to a ground station equipped with the Robot Operating System (ROS), and specially intended to test computer vision algorithms and automatic control strategies in an easy, fast and safe way. In addition, this work provides a study of data fusion techniques looking to enhance the UAVs pose estimation provided by commonly used sensors. Two strategies are evaluated in particular, an Extended Kalman Filter (EKF) and a Particle Filter (PF). Both estimators are adapted for the system under consideration, taking into account noisy measurements of the UAV position, velocity and orientation. Simulations show the performance of the developed algorithms while adding noise from real GPS (Global Positioning System) measurements. Safe and accurate navigation for either autonomous trajectory tracking or haptic teleoperation of quadrotors is presented as well. A second order Sliding Mode (2-SM) control algorithm is used to track trajectories while avoiding frontal collisions in autonomous flight. The time-scale separation of the translational and rotational dynamics allows us to design position controllers by giving desired references in the roll and pitch angles, which is suitable for quadrotors equipped with an internal attitude controller. The 2-SM control allows adding robustness to the closed-loop system. A Lyapunov based analysis probes the system stability. Vision algorithms are employed to estimate the pose of the vehicle using only a monocular SLAM (Simultaneous Localization and Mapping) fused with inertial measurements. Distance to potential obstacles is detected and computed using the sparse depth map from the vision algorithm. For teleoperation tests, a haptic device is employed to feedback information to the pilot about possible collisions, by exerting opposite forces. The proposed strategies are successfully tested in real-time experiments, using a low-cost commercial quadrotor. Also, conception and development of a Micro Aerial Vehicle (MAV) able to safely interact with human users by following them autonomously, is achieved in the present work. Once a face is detected by means of a Haar cascade classifier, it is tracked applying a Kalman Filter (KF), and an estimation of the relative position with respect to the face is obtained at a high rate. A linear Proportional Derivative (PD) controller regulates the UAV's position in order to keep a constant distance to the face, employing as well the extra available information from the embedded UAV's sensors. Several experiments were carried out through different conditions, showing good performance even under disadvantageous scenarios like outdoor flight, being robust against illumination changes, wind perturbations, image noise and the presence of several faces on the same image. Finally, this thesis deals with the problem of implementing a safe and fast transportation system using an UAV kind quadrotor with a cable suspended load. The objective consists in transporting the load from one place to another, in a fast way and with minimum swing in the cable.
Book Synopsis Robots, Drones, UAVs and UGVs for Operation and Maintenance by : Diego Galar
Download or read book Robots, Drones, UAVs and UGVs for Operation and Maintenance written by Diego Galar and published by CRC Press. This book was released on 2020-05-07 with total page 409 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrial assets (such as railway lines, roads, pipelines) are usually huge, span long distances, and can be divided into clusters or segments that provide different levels of functionality subject to different loads, degradations and environmental conditions, and their efficient management is necessary. The aim of the book is to give comprehensive understanding about the use of autonomous vehicles (context of robotics) for the utilization of inspection and maintenance activities in industrial asset management in different accessibility and hazard levels. The usability of deploying inspection vehicles in an autonomous manner is explained with the emphasis on integrating the total process. Key Features Aims for solutions for maintenance and inspection problems provided by robotics, drones, unmanned air vehicles and unmanned ground vehicles Discusses integration of autonomous vehicles for inspection and maintenance of industrial assets Covers the industrial approach to inspection needs and presents what is needed from the infrastructure end Presents the requirements for robot designers to design an autonomous inspection and maintenance system Includes practical case studies from industries
Book Synopsis Remote Sensing and Actuation Using Unmanned Vehicles by : Haiyang Chao
Download or read book Remote Sensing and Actuation Using Unmanned Vehicles written by Haiyang Chao and published by John Wiley & Sons. This book was released on 2012-08-28 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned systems and robotics technologies have become very popular recently owing to their ability to replace human beings in dangerous, tedious, or repetitious jobs. This book fill the gap in the field between research and real-world applications, providing scientists and engineers with essential information on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes. Target scenarios include environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks.
Download or read book כשרות להלכה ולמעשה written by and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Intelligent Autonomy of UAVs by : Yasmina Bestaoui Sebbane
Download or read book Intelligent Autonomy of UAVs written by Yasmina Bestaoui Sebbane and published by CRC Press. This book was released on 2018-03-14 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Autonomy of UAVs: Advanced Missions and Future Use provides an approach to the formulation of the fundamental task typical to any mission and provides guidelines of how this task can be solved by different generic robotic problems. As such, this book aims to provide a systems engineering approach to UAV projects, discovering the real problems that need to be resolved independently of the application. After an introduction to the rapidly evolving field of aerial robotics, the book presents topics such as autonomy, mission analysis, human-UAV teams, homogeneous and heterogeneous UAV teams, and finally, UAV-UGV teams. It then covers generic robotic problems such as orienteering and coverage. The book next introduces deployment, patrolling, and foraging, while the last part of the book tackles an important application: aerial search, tracking, and surveillance. This book is meant for both scientists and practitioners. For practitioners, it presents existing solutions that are categorized according to various missions: surveillance and reconnaissance, 3D mapping, urban monitoring, precision agriculture, forestry, disaster assessment and monitoring, security, industrial plant inspection, etc. For scientists, it provides an overview of generic robotic problems such as coverage and orienteering; deployment, patrolling and foraging; search, tracking, and surveillance. The design and analysis of algorithms raise a unique combination of questions from many fields, including robotics, operational research, control theory, and computer science.
Book Synopsis Control of Autonomous Aerial Vehicles by : Andrea L'Afflitto
Download or read book Control of Autonomous Aerial Vehicles written by Andrea L'Afflitto and published by Springer Nature. This book was released on 2023-11-20 with total page 363 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of Autonomous Aerial Vehicles is an edited book that provides a single-volume snapshot on the state of the art in the field of control theory applied to the design of autonomous unmanned aerial vehicles (UAVs), aka “drones”, employed in a variety of applications. The homogeneous structure allows the reader to transition seamlessly through results in guidance, navigation, and control of UAVs, according to the canonical classification of the main components of a UAV’s autopilot. Each chapter has been written to assist graduate students and practitioners in the fields of aerospace engineering and control theory. The contributing authors duly present detailed literature reviews, conveying their arguments in a systematic way with the help of diagrams, plots, and algorithms. They showcase the applicability of their results by means of flight tests and numerical simulations, the results of which are discussed in detail. Control of Autonomous Aerial Vehicles will interest readers who are researchers, practitioners or graduate students in control theory, autonomous systems or robotics, or in aerospace, mechanical or electrical engineering.
Book Synopsis Colour-based Object Detection and Tracking for an Autonomous Quadrotor by : Hani Hunud Abia Kadouf
Download or read book Colour-based Object Detection and Tracking for an Autonomous Quadrotor written by Hani Hunud Abia Kadouf and published by . This book was released on 2014 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Useful applications of Unmanned Air Vehicles (UAVs) include aerial surveillance in hostile military zones or search and rescue operations in disaster stricken areas. The increased visual capacity of UAVs also helps support ground vehicles during scouting missions or to extend communication beyond insurmountable land or water barriers. Computer vision techniques provide a simplistic means to convey information for motion control of a UAV. Hence this work focuses on the development of a vision based image processing algorithm for autonomous navigation of a quadrotor UAV. A camera was used to capture an aerial field of view and transmit a video stream of its perspective to a base station- where OpenCV 2.3.1 vision processing software was used to implement a vision processing algorithm. The algorithm comprises of colour thresholding, the use of image moment and blob detection to detect and track an object within the camea view. Experimental readings of an object's displacement at three altitudes; 1.5m, 2.0m and 2.5m were used to derive pixel-to-cm conversion equations based on the target's pixel coordinates on the viewing window. Through a statistical analysis of variance and standard deviation conducted on 15 experimental readings of displacement ranging from 5cm to 25cm; it was shown that the vision system is best suited for tracking displacements at lower altitude flights. Hence, the best result for variance and standard were achieved when using the derived equation and were 0.64 and 0.8 respectively. The equation derived was also used to derive GPS locking coordinates. Pixel coordinates of a target on the camera display were then used to produce GPS locking coordinates for the quadrotor to track a target object.
Book Synopsis Unmanned Aircraft Systems with Autonomous Navigation by : Umberto Papa
Download or read book Unmanned Aircraft Systems with Autonomous Navigation written by Umberto Papa and published by Mdpi AG. This book was released on 2023-07-05 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this book is to seek high-quality contributions that highlight novel research results and emerging applications, addressing recent breakthroughs in UAS autonomous navigation and related fields, such as flight mechanics and control, structural design, sensor design, etc. The topics of interest include the following: two-dimensional and three-dimensional mapping, target detection, and obstacle avoidance; the active perception of targets in cluttered environments (foliage, forests, etc.); vision-based and optical flow techniques; sensors and sensor fusion techniques; design models for guidance and controlled flight; state estimation, data analysis and filtering techniques (KF, EKF, particle filtering, fuzzy logic, etc.); path planning and path management; optimal control and strategies (neural networks, fuzzy logic, reinforcement learning, evolutionary and genetic algorithms, AI, etc.); navigation in GPS-denied environments; autolanding and safe landing area definition (SLAD); environmental effects on UAVs (wind, etc.); autonomous UAV or MAV swarms, and distributed architectures; BVLOS autonomous navigation.
Book Synopsis Unmanned Aerial Vehicles by : P. K. Garg
Download or read book Unmanned Aerial Vehicles written by P. K. Garg and published by Mercury Learning and Information. This book was released on 2021-07-15 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an overview of the basic concepts and components of UAVs, the various sensors used, architecture of autonomous UAVs, communication tools and devices to acquire real-time data from UAVs, the software needed to analyze the UAV data, required rules and regulations to fly UAVs, various application areas, and future areas of research which is needed to handle relevant challenges. FEATURES: Explores the utilization of UAVs in different application areas, such as construction, oil and gas, mining, agriculture, forestry, search and rescue, surveillance, transportation, disaster, logistics, health, journalism, and many more Covers the theory, hardware, and software components of UAVs Includes end of chapter review questions for better understanding of the subject matter.
Book Synopsis Automation and Control by : Elmer P. Dadios
Download or read book Automation and Control written by Elmer P. Dadios and published by BoD – Books on Demand. This book was released on 2022-05-25 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in automation and control today cover many areas of technology where human input is minimized. This book discusses numerous types and applications of automation and control. Chapters address topics such as building information modeling (BIM)–based automated code compliance checking (ACCC), control algorithms useful for military operations and video games, rescue competitions using unmanned aerial-ground robots, and stochastic control systems.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 704 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Guidance, Control and Docking for CubeSat-based Active Debris Removal by : Mohamed Khalil Ben-Larbi
Download or read book Guidance, Control and Docking for CubeSat-based Active Debris Removal written by Mohamed Khalil Ben-Larbi and published by Cuvillier Verlag. This book was released on 2023-08-07 with total page 223 pages. Available in PDF, EPUB and Kindle. Book excerpt: While a paradigm shift in space industry has already started involving “mass production” of higher standardized, large distributed systems such as constellations, there are no effective solutions existing for the “mass removal” of satellites. Many indicators point to a further increase in the space traffic in Earth orbit in the near future, which could imply new dynamics in the evolution of the space debris environment. Even in case of diligent compliance with the Inter-Agency Space Debris Coordination Committee (IADC) mitigation guidelines, the growth in space traffic complicates its management and drastically increases the probability of accidents and system failures. NASA scientist Donald J. Kessler proposed a scenario in which the density of objects in low Earth orbit is high enough that collisions between objects could cause a cascade that renders space unusable for many generations. Therefore, a reliable and affordable capability of removing or servicing non-functional objects is essential to guarantee sustainable access to Earth orbit. Recently, the CubeSat design standard introduced a new class of cost-efficient small spacecraft and thereby offers a potential solution to the active debris removal (ADR) problem. The development of a novel “CubeSat-compatible” ADR technology has significant advantages such as the use of commercial off-the-shelf parts, reduced launch cost, and reduced design efforts. This thesis presents –in the frame of an ADR mission– an approach to advanced rendezvous and docking with non-cooperative targets via CubeSat. It covers the design process of simulation systems used for verification purposes, the ideation and implementation of novel guidance, control, and docking techniques, as well as their verification and evaluation. The outcome of this research is a series of validated software tools, processes, technical devices, and algorithms for automated approach and docking, that have been tested in simulation and with prototype hardware.
Book Synopsis Vision-Based Navigation for Autonomous Landing of Unmanned Aerial Vehicles by : Paul A. Ghyzel
Download or read book Vision-Based Navigation for Autonomous Landing of Unmanned Aerial Vehicles written by Paul A. Ghyzel and published by . This book was released on 2000-09-01 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: The role of Unmanned Aerial Vehicles (UAV) for modern military operations is expected to expand in the 21st Century, including increased deployment of UAVs from Navy ships at sea. Autonomous operation of UAVs from ships at sea requires the UAV to land on a moving ship using only passive sensors installed in the UAV. This thesis investigates the feasibility of using passive vision sensors installed in the UAV to estimate the UAV position relative to the moving platform. A navigation algorithm based on photogrammetry and perspective estimation is presented for numerically determining the relative position and orientation of an aircraft with respect to a ship that possesses three visibly significant points with known separation distances. Original image processing algorithms that reliably locate visually significant features in monochrome images are developed. Monochrome video imagery collected during flight test with an infrared video camera mounted in the nose of a UAV during actual landing approaches is presented. The navigation and image processing algorithms are combined to reduce the flight test images into vehicle position estimates. These position estimates are compared to truth data to demonstrate the feasibility of passive, vision-based sensors for aircraft navigation. Conclusions are drawn, and recommendations for further study are presented.
Book Synopsis NASA Activities by : United States. National Aeronautics and Space Administration
Download or read book NASA Activities written by United States. National Aeronautics and Space Administration and published by . This book was released on 1990 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Multi-source UAV-based Object Classification Using CNN's and Data Acquisition System for Robotic Skin by : M.S. Raghavendra Sriram
Download or read book Multi-source UAV-based Object Classification Using CNN's and Data Acquisition System for Robotic Skin written by M.S. Raghavendra Sriram and published by . This book was released on 2017 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous robots are intelligent systems capable of performing tasks in the world by themselves, without explicit human control. Examples range from autonomous helicopters to Roomba, the robot vacuum cleaner to robotic manipulators. The numerous sensors on-board gather data related to the desired actions and this poses several challenges and design constraints in terms of computation and hardware design that can prove to be extremely difficult and expensive to avoid. The objective of this research is to study, develop and implement various Intelligent solutions to help solve several real-world problems with respect to multi agent configurations of unmanned systems. We shall see examples of integration of machine learning especially Deep learning capabilities in swarms. We shall also discuss the development of robotic skin modules and the several constraints and design schemes adopted and tested to support the development of more social robots and help study and determine certain requirements and develop smart systems to help give robots a more natural sensory based interface with its surroundings.
