Download or read book Autonomous Landing of a Rotary Unmanned Aerial Vehicle in a Non cooperative Environment Using Machine Vision written by Joshua Hintze and published by . This book was released on 2004 with total page 59 pages. Available in PDF, EPUB and Kindle. Book excerpt: Landing an Unmanned Aerial Vehicle (UAV) is a non-trivial problem. Removing the ability to cooperate with the landing site further increases the complexity. This thesis develops a multi-stage process that allows a UAV to locate the safest landing site, and then land without a georeference. Machine vision is the vehicle sensor used to locate potential landing hazards and generate an estimated UAV position. A description of the algorithms, along with validation results, are presented. The thesis shows that software-simulated landing performs adequately, and that future hardware integration looks promising.

Download or read book Real time Evaluation of Vision based Navigation for Autonomous Landing of a Rotorcraft Unmanned Aerial Vehicle in a Non cooperative Environment written by Dale D. Rowley and published by . This book was released on 2005 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: Landing a rotorcraft unmanned aerial vehicle (RUAV) without human supervision is a capability that would significantly broaden the usefulness of UAVs. The benefits are even greater if the functionality is expanded to involve landing sites with unknown terrain and a lack of GPS or other positioning aids. Examples of these types of non-cooperative environments could range from remote mountainous regions to an urban building rooftop or a cluttered parking lot.

Download or read book The Autonomous Landing of Rotary Wing UAVs on Underway Ships in a Sea State written by Jordan Ross and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is a desire among researchers, governments, corporations and the public to learn more about our environment. To learn how it is changing, how it can be more efficiently used, interacted with, protected and understood. Some of these environments are also some of the harshest, meaning any tool that can help mitigate risks, decrease costs and maximize opportunities should be considered, such as unmanned aerial vehicles (UAV). In order to fully unlock the potential of these tools some infrastructure is lacking, mainly their recovery at sea. Current technologies focus on vision-based systems and very few end-to-end autonomous ship based algorithms have been demonstrated. Most current technologies also require very calm sea states. Here, a novel autonomous landing technique is presented. The algorithm uses acoustic positioning to allow for landings in a wider breadth of conditions and reduces the reliance on specially designed landing targets. It also features a potential fields path planner to adapt for ship motion and provide some obstacle avoidance and natural biasing away from the heaving deck. The autonomy uses a sea state predictor to compensate for harsher sea conditions and ship motion, allowing the UAV to look for appropriate landing windows in higher sea states. Autonomous landings are demonstrated in simulation and in a lab setting for sea conditions up to, and including, sea state 5. The ship motions in these sea states are defined using real sea trials data from the decommissioned Annapolis-class destroyer HMCS Nipigon.

Download or read book Advances in Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer. This book was released on 2007-07-17 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.

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.

Download or read book Vision based Automatic Landing of a Rotary UAV written by Iryna Borshchova and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A hybrid-like (continuous and discrete-event) approach to controlling a small multi-rotor unmanned aerial system (UAS) while landing on a moving platform is described. The landing scheme is based on positioning visual markers on a landing platform in a detectable pattern. After the onboard camera detects the object pattern, the inner control algorithm sends visual-based servo-commands to align the multi-rotor with the targets. This method is less computationally complex as it uses color-based object detection applied to a geometric pattern instead of feature tracking algorithms, and has the advantage of not requiring the distance to the objects to be calculated. The continuous approach accounts for the UAV and the platform rolling/pitching/yawing, which is essential for a real-time landing on a moving target such as a ship. A discrete-event supervisor working in parallel with the inner controller is designed to assist the automatic landing of a multi-rotor UAV on a moving target. This supervisory control strategy allows the pilot and crew to make time-critical decisions when exceptions, such as losing targets from the field of view, occur. The developed supervisor improves the low-level vision-based auto-landing system and high-level human-machine interface. The proposed hybrid-like approach was tested in simulation using a quadcopter model in Virtual Robotics Experimentation Platform (V-REP) working in parallel with Robot Operating System (ROS). Finally, this method was validated in a series of real-time experiments with indoor and outdoor quadcopters landing on both static and moving platforms. The developed prototype system has demonstrated the capability of landing within 25 cm of the desired point of touchdown. This auto-landing system is small (100 x 100 mm), light-weight (100 g), and consumes little power (under 2 W).

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.

Download or read book Time Critical Cooperative Control of Autonomous Air Vehicles written by Isaac Kaminer and published by Butterworth-Heinemann. This book was released on 2017-08-02 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: Time-Critical Cooperative Control of Autonomous Air Vehicles presents, in an easy-to-read style, the latest research conducted in the industry, while also introducing a set of novel ideas that illuminate a new approach to problem-solving. The book is virtually self-contained, giving the reader a complete, integrated presentation of the different concepts, mathematical tools, and control solutions needed to tackle and solve a number of problems concerning time-critical cooperative control of UAVs. By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry. - Addresses important topics related to time-critical cooperative control of UAVs - Describes solutions to the problems rooted in solid dynamical systems theory - Applies the solutions developed to fixed-wing and multirotor UAVs - Includes the results of field tests with both classes of UAVs

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.

Download or read book Automated Low Altitude Air Delivery written by Johann C. Dauer and published by Springer Nature. This book was released on 2021-11-02 with total page 556 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates Unmanned Aircraft Systems (UAS) with a payload capacity of one metric ton for transportation. The authors provide a large variety of perspectives–from economics to technical realization. With the focus on such heavy-lift cargo UAS, the authors consider recently established methods for approval and certification, which they expect to be disruptive for unmanned aviation. In particular, the Specific Operations Risk Assessment (SORA) and its impact on the presented technological solutions and operational concepts are studied. Starting with the assumption of an operation over sparsely populated areas and below common air traffic, diverse measures to further reduce operational risks are proposed. Operational concepts derived from logistics use-cases set the context for an in-depth analysis including aircraft and system design, safe autonomy as well as airspace integration and datalinks. Results from simulations and technology demonstrations are presented as a proof of concept for solutions proposed in this book.

Download or read book Vision Assisted Landing of an Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this paper, a strategy for an autonomous landing maneuver for an under-actuated, unmanned aerial vehicle (UAV) using position information obtained from a single monocular on-board camera is presented. Although the UAV is underactuated in translational control inputs (i.e., a lift force can only be produced), the proposed controller is shown to achieve globally uniform ultimate boundedness (GUUB) in position regulation error during the landing approach. The proposed vision-based control algorithm is built upon homography-based techniques and Lyapunov design methods.

Download or read book Aerial Robotic Workers written by George Nikolakopoulos and published by Butterworth-Heinemann. This book was released on 2022-11-05 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications provides an in-depth look at both theory and practical applications surrounding the Aerial Robotic Worker (ARW). Emerging ARWs are fully autonomous flying robots that can assist human operations through their agile performance of aerial inspections and interaction with the surrounding infrastructure. This book addresses all the fundamental components of ARWs, starting with the hardware and software components and then addressing aspects of modeling, control, perception of the environment, and the concept of aerial manipulators, cooperative ARWs, and direct applications. The book includes sample codes and ROS-based tutorials, enabling the direct application of the chapters and real-life examples with platforms already existing in the market. - Addresses the fundamental problems of UAVs with the ability of utilizing aerial tools in the fields of modeling, control, navigation, cooperation, vision and interaction with the environment - Includes open source codes and libraries, providing a complete set of information for readers to start their experimentation with UAVs, and more specifically, ARWs - Provides multiple, real-life examples and codes in MATLAB and ROS

Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by Wiley. This book was released on 2010-12-01 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.

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

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 155 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 Autonomous Flying Robots written by Kenzo Nonami and published by Springer. This book was released on 2014-11-16 with total page 0 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.

Download or read book Lighter than Air Robots written by Yasmina Bestaoui Sebbane and published by Springer Science & Business Media. This book was released on 2011-11-15 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an unmanned airship with sufficient autonomy. Lighter than air systems are particularly appealing since the energy to keep them airborne is small. They are increasingly considered for various tasks such as monitoring, surveillance, advertising, freight carrier, transportation. This book familiarizes readers with a hierarchical decoupled planning and control strategy that has been proven efficient through research. It is made up of a hierarchy of modules with well defined functions operating at a variety of rates, linked together from top to bottom. The outer loop, closed periodically, consists of a discrete search that produces a set of waypoints leading to the goal while avoiding obstacles and weighed regions. The second level smoothes this set so that the generated paths are feasible given the vehicle's velocity and accelerations limits. The third level generates flyable, timed trajectories and the last one is the tracking controller that attempts to minimize the error between the robot measured trajectory and the reference trajectory. This hierarchy is reflected in the structure and content of the book. Topics treated are: Modelling, Flight Planning, Trajectory Design and Control. Finally, some actual projects are described in the appendix. This volume will prove useful for researchers and practitioners working in Robotics and Automation, Aerospace Technology, Control and Artificial Intelligence.