Download or read book An Onboard Vision System for Unmanned Aerial Vehicle Guidance written by Barrett Bruce Edwards and published by . This book was released on 2010 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt: The viability of small Unmanned Aerial Vehicles (UAVs) as a stable platform for specific application use has been significantly advanced in recent years. Initial focus of lightweight UAV development was to create a craft capable of stable and controllable flight. This is largely a solved problem. Currently, the field has progressed to the point that unmanned aircraft can be carried in a backpack, launched by hand, weigh only a few pounds and be capable of navigating through unrestricted airspace.

Download or read book Vision Guidance Controller for an Unmanned Aerial Vehicle written by Mark T. Watson and published by . This book was released on 1998-12-01 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: The use of Unmanned Aerial Vehicles (UAVs) in modern military operations for reconnaissance and other missions continues to grow. UAV systems using remote control guidance are limited in range and subject to Electronic Warfare concerns. Guidance Systems using only Global Positioning Service (GPS) or an Inertial Navigation System (INS) are limited to a pre-programmed route of flight. A vision guidance system that can control the UAV over an arbitrary course is not subject to these limitations. This thesis uses classical control methods to develop and test an autonomous vision controller for the FOG-R UAV (FROG). First, a computer model of the camera output for a flight that tracks a river is made to develop the controller and to test it in nonlinear simulation. Finally, the complete system is flight tested on the FROG UAV. The design and test equipment include a highly modified FOG-R UAV from the U.S. Army, the MATRIXx Product Family of software tools developed by Integrated Systems, Inc., and a Ground Station built at NPS from commercially available computer and communication equipment.

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.

Download or read book Selected papers from the 2nd International Symposium on UAVs Reno U S A June 8 10 2009 written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2011-04-11 with total page 519 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade, signi?cant changes have occurred in the ?eld of vehicle motion planning, and for UAVs in particular. UAV motion planning is especially dif?cult due to several complexities not considered by earlier planning strategies: the - creased importance of differential constraints, atmospheric turbulence which makes it impossible to follow a pre-computed plan precisely, uncertainty in the vehicle state, and limited knowledge about the environment due to limited sensor capabilities. These differences have motivated the increased use of feedback and other control engineering techniques for motion planning. The lack of exact algorithms for these problems and dif?culty inherent in characterizing approximation algorithms makes it impractical to determine algorithm time complexity, completeness, and even soundness. This gap has not yet been addressed by statistical characterization of experimental performance of algorithms and benchmarking. Because of this overall lack of knowledge, it is dif?cult to design a guidance system, let alone choose the algorithm. Throughout this paper we keep in mind some of the general characteristics and requirements pertaining to UAVs. A UAV is typically modeled as having velocity and acceleration constraints (and potentially the higher-order differential constraints associated with the equations of motion), and the objective is to guide the vehicle towards a goal through an obstacle ?eld. A UAV guidance problem is typically characterized by a three-dimensional problem space, limited information about the environment, on-board sensors with limited range, speed and acceleration constraints, and uncertainty in vehicle state and sensor data.

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).

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.

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 276 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).

Download or read book A Gimbal supported Mono Camera Relative Position Measurement System of a Visually Distinct Object for UAV Guidance written by Rostyk Svitelskyi and published by . This book was released on 2019 with total page 53 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes a vision-based system for measuring distance and bearing between an unmanned aerial vehicle (UAV) and a ground object. The system is built of a single camera, mounted on a gimbal, which stabilizes camera attitude. The novelty of this system is that it uses a single camera and tracks a single object on the ground, hence requiring less equipment compared to other types of vision-based navigation systems. Vision system data estimates are fed into the controller to stabilize aircraft on a circular orbit and to maintain fully automated flight, without GPS data. The system can be used as a backup in the case of GPS signal loss. In that case, the UAV will orbit a target until the signal is restored or manual input is received. We describe the hardware chosen to solve this problem and the image-processing and rectification algorithms that determine the position of the target. The position data is used to control the autopilot which was optimized for circling the target. The real flight test results for the system, installed on a fixed-wing UAV, are presented.

Download or read book Handbook of Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer. This book was released on 2014-08-29 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Unmanned Aerial Vehicles is a reference text for the academic and research communities, industry, manufacturers, users, practitioners, Federal Government, Federal and State Agencies, the private sector, as well as all organizations that are and will be using unmanned aircraft in a wide spectrum of applications. The Handbook covers all aspects of UAVs, from design to logistics and ethical issues. It is also targeting the young investigator, the future inventor and entrepreneur by providing an overview and detailed information of the state-of-the-art as well as useful new concepts that may lead to innovative research. The contents of the Handbook include material that addresses the needs and ‘know how’ of all of the above sectors targeting a very diverse audience. The Handbook offers a unique and comprehensive treatise of everything one needs to know about unmanned aircrafts, from conception to operation, from technologies to business activities, users, OEMs, reference sources, conferences, publications, professional societies, etc. It should serve as a Thesaurus, an indispensable part of the library for everyone involved in this area. For the first time, contributions by the world’s top experts from academia, industry, government and the private sector, are brought together to provide unique perspectives on the current state-of-the-art in UAV, as well as future directions. The Handbook is intended for the expert/practitioner who seeks specific technical/business information, for the technically-oriented scientists and engineers, but also for the novice who wants to learn more about the status of UAV and UAV-related technologies. The Handbook is arranged in a user-friendly format, divided into main parts referring to: UAV Design Principles; UAV Fundamentals; UAV Sensors and Sensing Strategies; UAV Propulsion; UAV Control; UAV Communication Issues; UAV Architectures; UAV Health Management Issues; UAV Modeling, Simulation, Estimation and Identification; MAVs and Bio-Inspired UAVs; UAV Mission and Path Planning; UAV Autonomy; UAV Sense, Detect and Avoid Systems; Networked UAVs and UAV Swarms; UAV Integration into the National Airspace; UAV-Human Interfaces and Decision Support Systems; Human Factors and Training; UAV Logistics Support; UAV Applications; Social and Ethical Implications; The Future of UAVs. Each part is written by internationally renowned authors who are authorities in their respective fields. The contents of the Handbook supports its unique character as a thorough and comprehensive reference book directed to a diverse audience of technologists, businesses, users and potential users, managers and decision makers, novices and experts, who seek a holistic volume of information that is not only a technical treatise but also a source for answers to several questions on UAV manufacturers, users, major players in UAV research, costs, training required and logistics issues.

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.

Download or read book An Invitation to 3 D Vision written by Yi Ma and published by Springer Science & Business Media. This book was released on 2012-11-06 with total page 542 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the geometry of 3-D vision, that is, the reconstruction of 3-D models of objects from a collection of 2-D images. It details the classic theory of two view geometry and shows that a more proper tool for studying the geometry of multiple views is the so-called rank consideration of the multiple view matrix. It also develops practical reconstruction algorithms and discusses possible extensions of the theory.

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 2020-04-23 with total page 360 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).

Download or read book Guidance of Unmanned Aerial Vehicles written by Rafael Yanushevsky and published by CRC Press. This book was released on 2011-03-29 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by an expert with more than 30 years of experience, Guidance of Unmanned Aerial Vehicles contains new analytical results, taken from the author's research, which can be used for analysis and design of unmanned aerial vehicles guidance and control systems. This book progresses from a clear elucidation of guidance laws and unmanned aerial veh

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 2020-04-23 with total page 0 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).

Download or read book Vision based Localization and Guidance for Unmanned Aerial Vehicles written by Gianpaolo Conte and published by . This book was released on 2009 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Visual Guidance of Unmanned Aerial Manipulators written by Angel Santamaria-Navarro and published by Springer. This book was released on 2018-08-18 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

Download or read book Synthetic Vision for Vehicle Guidance and Control written by Jacques Georges Verly and published by . This book was released on 1995 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: