Download or read book Precision Landing of a Quadrotor UAV on a Moving Target Using Low cost Sensors written by Kevin Ling and published by . This book was released on 2014 with total page 59 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the use of unmanned aerial vehicles (UAVs) becoming more widespread, a need for precise autonomous landings has arisen. In the maritime setting, precise autonomous landings will help to provide a safe way to recover UAVs deployed from a ship. On land, numerous applications have been proposed for UAV and unmanned ground vehicle (UGV) teams where autonomous docking is required so that the UGVs can either recover or service a UAV in the field. Current state of the art approaches to solving the problem rely on expensive inertial measurement sensors and RTK or differential GPS systems. However, such a solution is not practical for many UAV systems. A framework to perform precision landings on a moving target using low-cost sensors is proposed in this thesis. Vision from a downward facing camera is used to track a target on the landing platform and generate high quality relative pose estimates. The landing procedure consists of three stages. First, a rendezvous stage commands the quadrotor on a path to intercept the target. A target acquisition stage then ensures that the quadrotor is tracking the landing target. Finally, visual measurements of the relative pose to the landing target are used in the target tracking stage where control and estimation are performed in a body-planar frame, without the use of GPS or magnetometer measurements. A comprehensive overview of the control and estimation required to realize the three stage landing approach is presented. Critical parts of the landing framework were implemented on an AscTec Pelican testbed. The AprilTag visual fiducial system is chosen for use as the landing target. Implementation details to improve the AprilTag detection pipeline are presented. Simulated and experimen- tal results validate key portions of the landing framework. The novel relative estimation scheme is evaluated in an indoor positioning system. Tracking and landing on a moving target is demonstrated in an indoor environment. Outdoor tests also validate the target tracking performance in the presence of wind.

Download or read book Proceedings of the 2018 International Symposium on Experimental Robotics written by Jing Xiao and published by Springer Nature. This book was released on 2020-01-22 with total page 804 pages. Available in PDF, EPUB and Kindle. Book excerpt: In addition to the contributions presented at the 2018 International Symposium on Experimental Robotics (ISER 2018), this book features summaries of the discussions that were held during the event in Buenos Aires, Argentina. These summaries, authored by leading researchers and session organizers, offer important insights on the issues that drove the symposium debates. Readers will find cutting-edge experimental research results from a range of robotics domains, such as medical robotics, unmanned aerial vehicles, mobile robot navigation, mapping and localization, field robotics, robot learning, robotic manipulation, human–robot interaction, and design and prototyping. In this unique collection of the latest experimental robotics work, the common thread is the experimental testing and validation of new ideas and methodologies. The International Symposium on Experimental Robotics is a series of bi-annual symposia sponsored by the International Foundation of Robotics Research, whose goal is to provide a dedicated forum for experimental robotics research. In recent years, robotics has broadened its scientific scope, deepened its methodologies and expanded its applications. However, the significance of experiments remains at the heart of the discipline. The ISER gatherings are an essential venue where scientists can meet and have in-depth discussions on robotics based on this central tenet.

Download or read book Quadrotor UAV Control for Vision based Moving Target Tracking Task written by Denys Bohdanov and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book UAV Based Remote Sensing Volume 1 written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-04-27 with total page 397 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV-Based Remote Sensing" that was published in Sensors

Download or read book Vision based Control and Autonomous Landing of a VTOL UAV written by Kurtis W. Schram and published by . This book was released on 2014 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: The quadrotor used is a common low cost platform with a large open source community. Firstly, non-linear estimation and control techniques are implemented for the attitude stabilization using low-cost sensors and limited computational power. Some methods for the system parameters estimation are presented and some challenges related to the implementation are discussed. Despite the ability of the attitude controller to stabilize the orientation of the quadrotor, hovering and landing precisely over a specific area is not possible without a position stabilization scheme. In applications where GPS signals are not available and the hovering target is a priori unknown, it is common to rely on visual information. In this context, this thesis aims for the development of an efficient optical-flow-based position stabilization and autonomous landing scheme for the quadrotor UAV."-- from abstract.

Download or read book Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.

Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems 3rd ICAUS 2023 written by Yi Qu and published by Springer Nature. This book was released on with total page 679 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Grasping Static and Moving Targets with a Soft Drone written by Samuel Ubellacker and published by . This book was released on 2021 with total page 66 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis studies the problem of grasping static and moving targets with a Soft Drone, which is a quadrotor platform where the landing gear is replaced with a soft manipulator. Whereas traditional rigid aerial manipulators are intolerant to positioning errors and susceptible to large contact forces, the Soft Drone leverages a soft, tendon-actuated gripper, whose inherent compliance provides robustness against imprecision and mitigates disturbances. However, the Soft Drone still requires the design of control algorithms for grasping as well as prediction methods to track a moving target. The first part of the thesis focuses on control algorithms for grasping a static target with specific consideration towards real-world conditions. Unmodeled external disturbances, such as the added mass of the target post-grasp, are estimated and compensated through an adaptive controller. When a motion capture system is not available, the target is localized using purely onboard sensors through a perception-based approach. Experimental results are presented which show that the adaptive control scheme is capable of asymptotically stabilizing the zero tracking error of a static grasp trajectory, despite external disturbances. Initial results of the perception-based grasp are also shown using a photo-realistic simulator. The second part of the thesis focuses on grasping a moving target. Estimation and prediction of the target's state become key considerations when the target is moving. We employ an Extended Kalman filter for state estimation and use regularized polynomial fitting to predict the target's future trajectory. This information is used in a linear model predictive controller, which enables the quadrotor to track the target's state with minimal error. Simulation results show that our estimation and prediction approaches are robust against varying levels of noise and target predictability and that the control design enables successful grasping of a moving target.

Download or read book Landing of a Quadrotor UAV Swarm in a Nonstationary Confined Compartment written by Rick Schieni and published by . This book was released on 2017 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) have emerged as an extraordinarily useful technology in both civilian and military applications. Recent efforts have focused on expanding the capabilities of individual UAVs to the application of multiple vehicle swarms to efficiently accomplish otherwise laborious and dangerous tasks. In this work, a trajectory generation method is presented to safely land the individuals of a UAV team on a moving vessel following the performance of a team mission. It is assumed that the landing vessel has a compartment dedicated to vehicle storage which restricts the final landing maneuver to a confined space. Trajectories are generated by solving a constrained optimization problem in a computationally efficient manner by exploiting the properties of Pythagorean Hodograph Bèzier curves. A case study is presented to demonstrate the efficacy of the proposed trajectory generator. The study examines the effectiveness of the method to create successful landing trajectories for the individuals of the UAV swarm. It is shown that the method creates collision-free trajectories for multiple vehicles as they attempt to land in a confined compartment on a moving target.

Download or read book Quad Rotorcraft Control written by Luis Rodolfo García Carrillo and published by Springer Science & Business Media. This book was released on 2012-08-12 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.

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 Visual Servoing for a Quadrotor UAV in Target Tracking Applications written by Marinela Georgieva Popova and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book UAV or Drones for Remote Sensing Applications written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-11-23 with total page 345 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV or Drones for Remote Sensing Applications" that was published in Sensors

Download or read book Quadrotor Visual Servoing for Automatic Landing written by Jason Robert King and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis investigates the application of camera-based tracking and landing for multirotor UAVs on a moving target. Both Position-Based and Image-Based Visual Servoing are utilized to provide guidance to the quadrotor which will aim to track the target and to land on top of it. A novel Image-Based Visual Servoing scheme with a non-static desired image is developed to facilitate landing and yawing motions by the quadrotor. These control laws are then investigated through simulation and implementation on an experimental platform. Experiments are performed using the Ardrone 2.0 quadrotor and a Create Roomba as the ground rover. Successful implementations for landing are presented in the case of the Position-Based Visual Servoing, while hover and small motions are performed using the Image-Based Visual Servoing.

Download or read book UAV Sensors for Environmental Monitoring written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-03-05 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV Sensors for Environmental Monitoring" that was published in Sensors

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 Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle written by Moussa Labbadi and published by Springer. This book was released on 2021-10-21 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.