Download or read book Controlling Small Fixed Wing UAVs to Optimize Image Quality from On Board Cameras written by Stephen Phillip Jackson and published by . This book was released on 2011 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small UAVs have shown great promise as tools for collecting aerial imagery both quickly and cheaply. Furthermore, using a team of small UAVs, as opposed to one large UAV, has shown promise as being a cheaper, faster and more robust method for collecting image data over a large area. Unfortunately, the autonomy of small UAVs has not yet reached the point where they can be relied upon to collect good aerial imagery without human intervention, or supervision. The work presented here intends to increase the level of autonomy of small UAVs so that they can independently, and reliably collect quality aerial imagery. The main contribution of this paper is a novel approach to controlling small fixed wing UAVs that optimizes the quality of the images captured by cameras on board the aircraft. This main contribution is built on three minor contributions: a kinodynamic motion model for small fixed wing UAVs, an iterative Gaussian sampling strategy for rapidly exploring random trees, and a receding horizon, nonlinear model predictive controller for controlling a UAV's sensor footprint. The kinodynamic motion model is built on the traditional unicycle model of an aircraft. In order to create dynamically feasible paths, the kinodynamic motion model augments the kinetic unicycle model by adding a first order estimate of the aircraft's roll dynamics. Experimental data is presented that not only validates this novel kinodynamic motion model, but also shows a 25% improvement over the traditional unicycle model. A novel Gaussian biased sampling strategy is presented for building a rapidly exploring random tree that quickly iterates to a near optimal path. This novel sampling strategy does not require a method for calculating the nearest node to a point, which means that it runs much faster than the traditional RRT algorithm, but it still results in a Gaussian distribution of nodes. Furthermore, because it uses the kinodynamic motion model, the near optimal path it generates is, by definition, dynamically feasible. A nonlinear model predictive controller is presented to control the non-minimum phase problem of tracking a target on the ground from a UAV with a fixed camera. It is shown that this novel controller is probabilistically guaranteed to asymptotically converge to the path that minimizes the cross-track error of the UAV's sensor footprint. In addition, for a minimum phased problem, it is shown that its tracking performance is on par with a sliding mode controller, which at least theoretically, is capable of achieving perfect tracking. Finally, all three of these contributions are experimental validated by performing a variety of tracking tasks using the Berkeley Sig Rascal UAV.
Download or read book Optimal Control and Coordination of Small UAVs for Vision based Target Tracking written by Steven Andrew Provencio Quintero and published by . This book was released on 2014 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small unmanned aerial vehicles (UAVs) are relatively inexpensive mobile sensing platforms capable of reliably and autonomously performing numerous tasks, including mapping, search and rescue, surveillance and tracking, and real-time monitoring. The general problem of interest that we address is that of using small, fixed-wing UAVs to perform vision-based target tracking, which entails that one or more camera-equipped UAVs is responsible for autonomously tracking a moving ground target. In the single-UAV setting, the underactuated UAV must maintain proximity and visibility of an unpredictable ground target while having a limited sensing region. We provide solutions from two different vantage points. The first regards the problem as a two-player zero-sum game and the second as a stochastic optimal control problem. The resulting control policies have been successfully field-tested, thereby verifying the efficacy of both approaches while highlighting the advantages of one approach over the other.
Download or read book Vision Based Estimation and Tracking Using Multiple Unmanned Aerial Vehicles written by Mingfeng Zhang and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonlinear Control of Fixed Wing UAVs with Time Varying and Unstructured Uncertainties written by Michail G. Michailidis and published by Springer. This book was released on 2020-02-22 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
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 Agricultural Drones written by K. R. Krishna and published by Taylor & Francis. This book was released on 2018-03-26 with total page 331 pages. Available in PDF, EPUB and Kindle. Book excerpt: Agricultural drones are expected to revolutionize the way we conduct agronomic procedures and maintain natural vegetation on earth. This book explores the increasing importance of the role of aerial robots in managing agricultural farms and natural resources. Agricultural Drones: A Peaceful Pursuit provides a wealth of information on drone usage in agriculture. The book discusses the advanced sensors and imaging capabilities of drones that give farmers new ways to increase yields and reduce crop damage. An introductory chapter provides historical data, with details about various models of drones as well as the most recent and popular agricultural drones in usage. The book goes onto look at such topics as the use of drones for soil fertility, production agronomy, irrigation, weed control, pest and disease control, grain yield forecasting, and economic advantages from drone use. This timely and useful volume will be a valuable resource for faculty, agricultural extension officers, and farmers and farm consultancy agencies. This book would also serve as an excellent textbook for students in agriculture, engineering, geography, etc. Key features: • outlines the advantages of using drones in agriculture, such as for the management of soil fertility, the study of natural resources and vegetation, the maintenance of adequate irrigation, and the control of weeds and pests • covers the economic advantages of using drones in agriculture • examines the regulatory aspects of agricultural drones • provides actual examples of drone usage in agriculture
Download or read book Hyperspectral Imaging Technology A Novel Method for Agricultural and Biosecurity Diagnostics written by Penghao Wang and published by Frontiers Media SA. This book was released on 2021-12-22 with total page 137 pages. Available in PDF, EPUB and Kindle. Book excerpt: Prof. Zhou holds patents on the management of agricultural pests. All other Topic Editors declare no competing interests with regard to the Research Topic subject.
Download or read book Guidance Control and Trajectory Tracking of Small Fixed Wing Unmanned Aerial Vehicles UAV s written by Amer A. Al-Radaideh and published by . This book was released on 2009 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned Aerial Vehicles (UAV's) have gained increasing considerations due to their low cost and increased autonomy. A large number of applications in the military and civilian fields. The present work considers a low level flight control algorithms (auto-pilot) to improve the guidance, path following and trajectory tracking capabilities of the low speed fixed wing AUS-UAV. In addition, this investigation aims the development and building of fully functioning test-bed UAV platform."--Abstract, p. iii.
Download or read book Proceedings of the 7th China High Resolution Earth Observation Conference CHREOC 2020 written by Liheng Wang and published by Springer Nature. This book was released on 2022-01-11 with total page 569 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the proceedings of the 7th China High-resolution Earth Observation Conference (CHREOC). The series conference of China High Resolution Earth Observation has become an influential academic event in the earth detection area, attracting more and more top experts and industry users of related fields. The CHREOCs focus on the popular topics including military-civilian integration, the One Belt and One Road project, the transformation of scientific research achievements. They also discuss the new ideas, new technologies, new methods, and new developments. The CHREOCs have effectively promoted high-level institutional mechanisms, technological innovation, and industrial upgrading in the high-resolution earth observation area, and extend the influences of the state-sponsored major projects.
Download or read book Analytical Approach to Multi objective Joint Inference Control for Fixed Wing Unmanned Aerial Vehicles written by Julian L. Casey and published by . This book was released on 2020 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fixed-wing Unmanned Aerial Vehicles (UAVs) have been found highly useful in various environments, including military and law enforcement. With the increased use of fixed-wing UAVs, there becomes an increased need to optimize the resources available. One approach to resource management is to create multi-objective flights. This thesis presents the design, analysis, and experimental implementation of multi-objective resource management for the resource of Range, distance available to the UAV, from the viewpoint of Intelligence Surveillance and Reconnaissance (ISR). First, a Simulation Environment is created capable of tracking multiple fixed-wing UAVs and to allow for the UAVs' being controlled by an externally driven algorithm. Second, an Inference algorithm is developed with the objective of information seeking. Several algorithms are developed and used in conjunction with a Sequential Analysis test to allow for calculating Target Value, calculating Target Confidence, and validating the calculated Target Value. Third, a Control algorithm is developed with the objective of Target seeking. The Control algorithm uses several approaches to path generation, including Dubins path, Optimized Order path, and Closest Target path. Finally, a supervisor algorithm termed Joint Inference and Control (JIC) joins Inference and Control together. Monte Carlo simulated test flight results are shown to illustrate the effectiveness of the developed algorithms.
Download or read book Maneuver Design and Motion Planning for Agile Fixed wing UAVs written by Joshua Levin and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "In recognition of their broad scope of utility, recent years have seen a surge of interest in unmanned aerial vehicles (UAVs). As a result of technological advancements, UAVs have been rapidly expanding into the civilian marketplace. Many of the jobs UAVs have the potential to fill demand high levels of autonomy, and thus the state-of-the-art is constantly being pushed forward. Many such jobs require near-ground autonomous flight through obstacle-dense environments. Achieving proficiency in this regard requires agile motion, precise tracking performance, and efficient real-time planning.Many non-traditional UAV platforms have been designed to suit various applications. Agile fixed-wing UAVs represent one such class of vehicles. They are characterized by their high thrust-to-weight ratio, large control surfaces, low aspect ratios, and a powerful propeller slipstream (also known as propwash). While they were originally marketed towards remote control pilots, their design makes them inherently valuable for autonomous flight. The primary appeal of the design is that it allows for both efficient fixed-wing forward flying and agile maneuvering, e.g. stopping mid-flight. In this way, these UAVs begin to bridge the gap in utility between efficient fixed-wing vehicles, and agile rotorcraft. The broad objective of this thesis is to exploit the full maneuvering capabilities of agile fixed-wing UAVs for autonomous flight. The main topics covered are maneuver design, control, and motion planning. The thesis begins with a discussion of preliminary topics: an aircraft dynamics model, a feedback controller, and an optimization framework, all of which are utilized throughout the following sections of the thesis. Next, an investigation is performed to evaluate the significance of sideslip and propeller slipstream in extreme maneuvering with fixed-wing UAVs. We identify the cost, in terms of performance loss, if either of these two phenomena are not accounted for in maneuver design.In the following chapter, we propose a strategy for designing and controlling agile maneuvers that takes advantage of the aircraft's full flight envelope. Optimal and dynamically feasible trajectories are generated, along with their associated feedforward control laws. Combining the transient agile maneuvers with steady-state trim conditions, we formulate a maneuver space, i.e. a library of trajectories. The maneuver space acts as a hybrid representation of the vehicle's dynamics, and as such is useful for efficient real-time motion planning. This chapter also includes a description of a heuristic for transitioning between maneuvers, and a methodology for continuously parametrizing agile maneuvers.As a natural progression towards the ultimate goal of the thesis, the maneuver space is integrated into a real-time motion planner based on the Rapidly-Exploring Random Trees (RRT) algorithm. The planner is used to address the problem of generating a dynamically feasible motion plan to guide the aircraft to a desired goal through a highly-constrained, three-dimensional environment. For the purposes of this thesis, the environment is assumed to be known, and to only contain static obstacles. The planning framework is able to exploit the aircraft's full maneuvering capabilities, and couples well with a control system for effective trajectory tracking.To conclude the main body of the thesis, simulation and flight test results are presented and discussed. The flight tests are performed in two sets. First, to perform a number of agile maneuvers, in isolation and in series. The experiments validate the feasibility of the maneuvers, and test the efficacy of the proposed control system. The second set of tests validate the real-time motion planner. All experiments, including the real-time motion planning, are implemented using only the sensors and computers mounted on-board the UAV." --
Download or read book Unmanned Aerial Vehicle Applications in Agriculture and Environment written by Ram Avtar and published by Springer Nature. This book was released on 2019-11-18 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book showcases how new and emerging technologies like Unmanned Aerial Vehicles (UAVs) are trying to provide solutions to unresolved socio-economic and environmental problems. Unmanned vehicles can be classified into five different types according to their operation. These five types are unmanned ground vehicles, unmanned aerial vehicles, unmanned surface vehicles (operating on the surface of the water), unmanned underwater vehicles, and unmanned spacecraft. Unmanned vehicles can be guided remotely or function as autonomous vehicles. The technology has a wide range of uses including agriculture, industry, transport, communication, surveillance and environment applications. UAVs are widely used in precision agriculture; from monitoring the crops to crop damage assessment. This book explains the different methods in which they are used, providing step-by-step image processing and sample data. It also discusses how smart UAVs will provide unique opportunities for manufacturers to utilise new technological trends to overcome the current challenges of UAV applications. The book will be of great interest to researchers engaged in forest carbon measurement, road patrolling, plantation monitoring, crop yield estimation, crop damage assessment, terrain modelling, fertilizer control, and pest control.
Download or read book Advanced UAV Aerodynamics Flight Stability and Control written by Pascual Marqués and published by John Wiley & Sons. This book was released on 2017-07-11 with total page 799 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comprehensively covers emerging aerospace technologies Advanced UAV aerodynamics, flight stability and control: Novel concepts, theory and applications presents emerging aerospace technologies in the rapidly growing field of unmanned aircraft engineering. Leading scientists, researchers and inventors describe the findings and innovations accomplished in current research programs and industry applications throughout the world. Topics included cover a wide range of new aerodynamics concepts and their applications for real world fixed-wing (airplanes), rotary wing (helicopter) and quad-rotor aircraft. The book begins with two introductory chapters that address fundamental principles of aerodynamics and flight stability and form a knowledge base for the student of Aerospace Engineering. The book then covers aerodynamics of fixed wing, rotary wing and hybrid unmanned aircraft, before introducing aspects of aircraft flight stability and control. Key features: Sound technical level and inclusion of high-quality experimental and numerical data. Direct application of the aerodynamic technologies and flight stability and control principles described in the book in the development of real-world novel unmanned aircraft concepts. Written by world-class academics, engineers, researchers and inventors from prestigious institutions and industry. The book provides up-to-date information in the field of Aerospace Engineering for university students and lecturers, aerodynamics researchers, aerospace engineers, aircraft designers and manufacturers.
Download or read book Conservation Drones written by Serge A. Wich and published by Oxford University Press. This book was released on 2018 with total page 126 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book aims to further build capacity in the conservation community to use drones for conservation and inspire others to adapt emerging technologies for conservation.
Download or read book Field and Service Robotics written by Marco Hutter and published by Springer. This book was released on 2017-11-01 with total page 701 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the proceedings of the 11th FSR (Field and Service Robotics), which is the leading single-track conference on applications of robotics in challenging environments. This conference was held in Zurich, Switzerland from 12-15 September 2017. The book contains 45 full-length, peer-reviewed papers organized into a variety of topics: Control, Computer Vision, Inspection, Machine Learning, Mapping, Navigation and Planning, and Systems and Tools. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, and Europe.
Download or read book Integration of Civil Unmanned Aircraft Systems Uas in the National Airspace System NAS Roadmap written by U. S. Department U.S. Department of Transportation and published by CreateSpace. This book was released on 2015-03-31 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since the early 1990s, unmanned aircraft systems (UAS) have operated on a limited basis in the National Airspace System (NAS). Until recently, UAS mainly supported public operations, such as military and border security operations. The list of potential uses is now rapidly expanding to encompass a broad range of other activities, including aerial photography, surveying land and crops, communications and broadcast, monitoring forest fires and environmental conditions, and protecting critical infrastructures. UAS provide new ways for commercial enterprises (civil operations) and public operators to enhance some of our nation's aviation operations through increased operational efficiency and decreased costs, while maintaining the safety of the NAS.
Download or read book Optimizing Small Multi Rotor Unmanned Aircraft written by Stephen D. Prior and published by CRC Press. This book was released on 2018-09-18 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: This design guide was written to capture the author’s practical experience of designing, building and testing multi-rotor drone systems over the past decade. The lack of one single source of useful information meant that the past 10 years has been a steep learning curve, a lot of self-tuition and many trial and error tests. Lessons learnt the hard way are not always the best way to learn. This book will be useful for the amateur drone pilot who wants to build their own system from first principles, as well as the academic researcher investigating novel design concepts and future drone applications.
