Download or read book Autonomous Monocular Obstacle Detection for Avoidance in Quadrotor UAVs written by Panos Valavanis and published by . This book was released on 2019 with total page 54 pages. Available in PDF, EPUB and Kindle. Book excerpt: Obtained results contribute to: i.) a thorough understanding of advantages, disadvan- tages and applicability limitations of using only monocular vision for obstacle detection and avoidance; ii.) real-time applicability, and, iii.) applicability restrictions due to limita- tions of existing support technologies, i.e., ROS, Gazebo and the TUM Simulator package. A major contribution of the developed system is that it may be used as an open-source ed- ucational tool for students, practitioners and end users who are interested in unmanned aviation.

Download or read book Obstacle Detection and Avoidance for UAVs in Nap of the Earth Flight written by Roger Fusté Mollà and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A vision-based obstacle detection and avoidance algorithm for Unmanned Aerial Vehicles (UAVs) in fast and low flights ('Nap of the Earth' flights) has been developed. First, a literature review has been performed for both obstacle detection methods and obstacle avoidance methods. Two main categories have been recognised amongst the approaches used for each of them: the use of either a monocular camera or a stereo camera for the obstacle detection; and either reactive or anticipative methods for the obstacle avoidance. The implemented algorithm uses a stereo camera and an anticipative approach, as they have been identified as the most suitable techniques for fast flights. The stereo pairs of images are used to construct a 3D global occupancy map with a novel cell tagging method. This map is then used to calculate a set of waypoints which can lead the vehicle safely towards its goal. Finally, a novel optimisation algorithm is used to compute the fastest feasible polynomial trajectory along this set of waypoints to bring the vehicle to the target in the minimum achievable amount of time.

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.

Download or read book Autonomous Control of Unmanned Aerial Vehicles written by Victor Becerra and published by MDPI. This book was released on 2019-06-24 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are being increasingly used in different applications in both military and civilian domains. These applications include surveillance, reconnaissance, remote sensing, target acquisition, border patrol, infrastructure monitoring, aerial imaging, industrial inspection, and emergency medical aid. Vehicles that can be considered autonomous must be able to make decisions and react to events without direct intervention by humans. Although some UAVs are able to perform increasingly complex autonomous manoeuvres, most UAVs are not fully autonomous; instead, they are mostly operated remotely by humans. To make UAVs fully autonomous, many technological and algorithmic developments are still required. For instance, UAVs will need to improve their sensing of obstacles and subsequent avoidance. This becomes particularly important as autonomous UAVs start to operate in civilian airspaces that are occupied by other aircraft. The aim of this volume is to bring together the work of leading researchers and practitioners in the field of unmanned aerial vehicles with a common interest in their autonomy. The contributions that are part of this volume present key challenges associated with the autonomous control of unmanned aerial vehicles, and propose solution methodologies to address such challenges, analyse the proposed methodologies, and evaluate their performance.

Download or read book Advances in Signal Processing and Intelligent Recognition Systems written by Sabu M. Thampi and published by Springer. This book was released on 2019-01-05 with total page 486 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Symposium on Advances in Signal Processing and Intelligent Recognition Systems, SIRS 2018, held in Bangalore, India, in September 2018. The 28 revised full papers and 11 revised short papers presented were carefully reviewed and selected from 92 submissions. The papers cover wide research fields including information retrieval, human-computer interaction (HCI), information extraction, speech recognition.

Download or read book RiTA 2020 written by Esyin Chew and published by Springer Nature. This book was released on 2021-09-05 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the Proceedings of the 8th International Conference on Robot Intelligence Technology and Applications (RITA 2020). The areas covered include: Instrumentation and Control, Automation, Autonomous Systems, Biomechatronics and Rehabilitation Engineering, Intelligent Systems, Machine Learning, Mobile Robotics, Social Robotics and Humanoid Robotics, Sensors and Actuators, and Machine Vision, as well as Signal and Image Processing. As a valuable asset, the book offers researchers and practitioners a timely overview of the latest advances in robot intelligence technology and its applications.

Download or read book Machine Vision Algorithms and Applications written by Carsten Steger and published by John Wiley & Sons. This book was released on 2018-03-12 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this successful machine vision textbook is completely updated, revised and expanded by 35% to reflect the developments of recent years in the fields of image acquisition, machine vision algorithms and applications. The new content includes, but is not limited to, a discussion of new camera and image acquisition interfaces, 3D sensors and technologies, 3D reconstruction, 3D object recognition and state-of-the-art classification algorithms. The authors retain their balanced approach with sufficient coverage of the theory and a strong focus on applications. All examples are based on the latest version of the machine vision software HALCON 13.

Download or read book Image Sensor Fusion Algorithms for Obstacle Detection Location and Avoidance for Autonomous Navigation of UAVs written by Gopalakrishnan Rangasamy and published by . This book was released on 2010 with total page 92 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Deep Learning for Unmanned Systems written by Anis Koubaa and published by Springer Nature. This book was released on 2021-10-01 with total page 731 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is used at the graduate or advanced undergraduate level and many others. Manned and unmanned ground, aerial and marine vehicles enable many promising and revolutionary civilian and military applications that will change our life in the near future. These applications include, but are not limited to, surveillance, search and rescue, environment monitoring, infrastructure monitoring, self-driving cars, contactless last-mile delivery vehicles, autonomous ships, precision agriculture and transmission line inspection to name just a few. These vehicles will benefit from advances of deep learning as a subfield of machine learning able to endow these vehicles with different capability such as perception, situation awareness, planning and intelligent control. Deep learning models also have the ability to generate actionable insights into the complex structures of large data sets. In recent years, deep learning research has received an increasing amount of attention from researchers in academia, government laboratories and industry. These research activities have borne some fruit in tackling some of the challenging problems of manned and unmanned ground, aerial and marine vehicles that are still open. Moreover, deep learning methods have been recently actively developed in other areas of machine learning, including reinforcement training and transfer/meta-learning, whereas standard, deep learning methods such as recent neural network (RNN) and coevolutionary neural networks (CNN). The book is primarily meant for researchers from academia and industry, who are working on in the research areas such as engineering, control engineering, robotics, mechatronics, biomedical engineering, mechanical engineering and computer science. The book chapters deal with the recent research problems in the areas of reinforcement learning-based control of UAVs and deep learning for unmanned aerial systems (UAS) The book chapters present various techniques of deep learning for robotic applications. The book chapters contain a good literature survey with a long list of references. The book chapters are well written with a good exposition of the research problem, methodology, block diagrams and mathematical techniques. The book chapters are lucidly illustrated with numerical examples and simulations. The book chapters discuss details of applications and future research areas.

Download or read book Implementation of Autonomous Navigation and Mapping Using a Laser Line Scanner on a Tactical Unmanned Aerial Vehicle written by Mejdi Ben Ardhaoui and published by . This book was released on 2011 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this thesis is to investigate greater levels of autonomy in unmanned vehicles. This is accomplished by reviewing past literature about the developing of components of software architecture that are necessary for unmanned systems to achieve greater autonomy. The thesis presents implementation studies of existing sensor-based robotic navigation and mapping algorithms in both software and hardware, including a laser range finder, on a quadrotor unmanned aerial vehicle platform for real-time obstacle detection and avoidance. This effort is intended to lay the groundwork to begin critical evaluation of the strengths and weaknesses of the MOOS-IVP autonomy architecture and provide insight into what is necessary to achieve greater levels of intelligent autonomy in current and future unmanned systems.

Download or read book Advances in Intelligent Information Hiding and Multimedia Signal Processing written by Jeng-Shyang Pan and published by Springer Nature. This book was released on 2021-04-17 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents selected papers from the Sixteenth International Conference on Intelligent Information Hiding and Multimedia Signal Processing, in conjunction with the Thirteenth International Conference on Frontiers of Information Technology, Applications and Tools, held on November 5–7, 2020, in Ho Chi Minh City, Vietnam. It is divided into two volumes and discusses the latest research outcomes in the field of Information Technology (IT) including information hiding, multimedia signal processing, big data, data mining, bioinformatics, database, industrial and Internet of things, and their applications.

Download or read book Embedded Platforms for UAS Landing Path and Obstacle Detection written by Umberto Papa and published by Springer. This book was released on 2018-01-05 with total page 115 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the design and development of a system that assists remote pilots during the landing procedure. In particular, it covers a previously neglected topic, namely the search for the best pathway and landing site. It describes the system’s components, such as the ultrasonic sensor, infrared sensor and optical sensor, in detail, and discusses the experimental tests carried out in both controlled laboratory and real-world environments. Providing a fascinating survey of the state of the art in the field of unmanned aircraft system electronics design and development, the book also presents recent advances in and cutting-edge methodologies for the development of acquisition systems and inexpensive sensor design for navigation data.

Download or read book Intelligent Autonomous Systems 13 written by Emanuele Menegatti and published by Springer. This book was released on 2015-09-03 with total page 1669 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences commenced in 1986 and represents a premiere event in robotics.

Download or read book Online Optimal Obstacle Avoidance for Rotary wing Autonomous Unmanned Aerial Vehicles written by Keeryun Kang and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents an integrated framework for online obstacle avoidance of rotary-wing unmanned aerial vehicles (UAVs), which can provide UAVs an obstacle field navigation capability in a partially or completely unknown obstacle-rich environment. The framework is composed of a LIDAR interface, a local obstacle grid generation, a receding horizon (RH) trajectory optimizer, a global shortest path search algorithm, and a climb rate limit detection logic. The key feature of the framework is the use of an optimization-based trajectory generation in which the obstacle avoidance problem is formulated as a nonlinear trajectory optimization problem with state and input constraints over the finite range of the sensor. This local trajectory optimization is combined with a global path search algorithm which provides a useful initial guess to the nonlinear optimization solver. Optimization is the natural process of finding the best trajectory that is dynamically feasible, safe within the vehicle's flight envelope, and collision-free at the same time. The optimal trajectory is continuously updated in real time by the numerical optimization solver, Nonlinear Trajectory Generation (NTG), which is a direct solver based on the spline approximation of trajectory for dynamically flat systems. In fact, the overall approach of this thesis to finding the optimal trajectory is similar to the model predictive control (MPC) or the receding horizon control (RHC), except that this thesis followed a two-layer design; thus, the optimal solution works as a guidance command to be followed by the controller of the vehicle. The framework is implemented in a real-time simulation environment, the Georgia Tech UAV Simulation Tool (GUST), and integrated in the onboard software of the rotary-wing UAV test-bed at Georgia Tech. Initially, the 2D vertical avoidance capability of real obstacles was tested in flight. Then the flight test evaluations were extended to the benchmark tests for 3D avoidance capability over the virtual obstacles, and finally it was demonstrated on real obstacles located at the McKenna MOUT site in Fort Benning, Georgia. Simulations and flight test evaluations demonstrate the feasibility of the developed framework for UAV applications involving low-altitude flight in an urban area.

Download or read book High speed Autonomous Obstacle Avoidance with Pushbroom Stereo written by Andrew James Barry and published by . This book was released on 2016 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge this is the fastest lightweight aerial vehicle to perform collision avoidance in such a complex environment.

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 Experimental Robotics written by M. Ani Hsieh and published by Springer. This book was released on 2015-11-21 with total page 913 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings which are organized in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 14th ISER held on June 15-18, 2014 in Marrakech and Essaouira, Morocco. This present fourteenth edition of Experimental Robotics edited by M. Ani Hsieh, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-ce ntered robotics.