Download or read book Study on the Tracking of a Ground Mobile Object by a Quadrotor written by Laura López Jiménez and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The study done in this paper consists in developing a trajectory control algorithm for a quadcopter in order to follow the movement of a ground mobile object. To achieve the goal, control systems for Pitch and Roll linear speed have been de-signed in a way that allow the drone to a stable flying. The conceptual technical requirements to do this are embodied in the course of control placed in the 6th semester of the Electronic and Automatic Engineering degree. The main part of the current study is devoted to the implementation of the neces-sary algorithms related to the good control of an object in motion. Imaging pro-cessing techniques have been revealed as fundamental in pursuing the former task. The quadcopter used for the experiments was a Parrot AR Drone 2.0. The Drone communicates with the computer using WI-FI network. To establish connection between the computer and the Drone, it was necessary to use two operating sys-tems: Linux and Robot Operating System (ROS). The functions that control the Drone have been implemented by using MATLAB and Simulink Tool. The study is structured in three main parts: the first gathers all the system identi-fication process in order to design the speed linear controllers. The second part refers to the calibration parameters identification and image processing and the final one, is devoted to implement the persecution algorithm and the final results.
Download or read book Colour based Object Detection and Tracking for an Autonomous Quadrotor written by Hani Hunud Abia Kadouf and published by . This book was released on 2014 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Useful applications of Unmanned Air Vehicles (UAVs) include aerial surveillance in hostile military zones or search and rescue operations in disaster stricken areas. The increased visual capacity of UAVs also helps support ground vehicles during scouting missions or to extend communication beyond insurmountable land or water barriers. Computer vision techniques provide a simplistic means to convey information for motion control of a UAV. Hence this work focuses on the development of a vision based image processing algorithm for autonomous navigation of a quadrotor UAV. A camera was used to capture an aerial field of view and transmit a video stream of its perspective to a base station- where OpenCV 2.3.1 vision processing software was used to implement a vision processing algorithm. The algorithm comprises of colour thresholding, the use of image moment and blob detection to detect and track an object within the camea view. Experimental readings of an object's displacement at three altitudes; 1.5m, 2.0m and 2.5m were used to derive pixel-to-cm conversion equations based on the target's pixel coordinates on the viewing window. Through a statistical analysis of variance and standard deviation conducted on 15 experimental readings of displacement ranging from 5cm to 25cm; it was shown that the vision system is best suited for tracking displacements at lower altitude flights. Hence, the best result for variance and standard were achieved when using the derived equation and were 0.64 and 0.8 respectively. The equation derived was also used to derive GPS locking coordinates. Pixel coordinates of a target on the camera display were then used to produce GPS locking coordinates for the quadrotor to track a target object.
Download or read book Advance Trends in Soft Computing written by Mo Jamshidi and published by Springer. This book was released on 2013-11-18 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the proceedings of the 3rd World Conference on Soft Computing (WCSC), which was held in San Antonio, TX, USA, on December 16-18, 2013. It presents start-of-the-art theory and applications of soft computing together with an in-depth discussion of current and future challenges in the field, providing readers with a 360 degree view on soft computing. Topics range from fuzzy sets, to fuzzy logic, fuzzy mathematics, neuro-fuzzy systems, fuzzy control, decision making in fuzzy environments, image processing and many more. The book is dedicated to Lotfi A. Zadeh, a renowned specialist in signal analysis and control systems research who proposed the idea of fuzzy sets, in which an element may have a partial membership, in the early 1960s, followed by the idea of fuzzy logic, in which a statement can be true only to a certain degree, with degrees described by numbers in the interval [0,1]. The performance of fuzzy systems can often be improved with the help of optimization techniques, e.g. evolutionary computation, and by endowing the corresponding system with the ability to learn, e.g. by combining fuzzy systems with neural networks. The resulting “consortium” of fuzzy, evolutionary, and neural techniques is known as soft computing and is the main focus of this book.
Download or read book Tracking of Ground Mobile Targets by Quandrotor Unmanned Aerial Vehicles written by Ruoyu Tan and published by . This book was released on 2013 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Unmanned Air Vehicle (UAV) is an aircraft without a human pilot on board. It can be controlled either autonomously by computers onboard, or using a remote control by a pilot on the ground, or in another vehicle. In both military and civilian sectors, UAVs are quickly obtaining popularity and expected to expand dramatically in the years to come. As UAVs gain more attention, one of the immediate requirements would be to have UAVs work as much autonomously as possible. One of the common tasks that UAVs would be engaged in is target tracking which has various potential applications in military field, law-enforcement, wildlife protection effort, and so on. This thesis focuses on development of a controller for UAVs to track ground target. In particular, this thesis focuses on quadrotor UAV, which is a multicopter that is lifted and propelled using four motors. Admittedly, several target tracking control methods have been developed in recent years. However, only a few of them have been applied on a quadrotor. Most of these tracking methods, particularly those based on Proportional Derivative (PD) control laws, which have been applied on quadrotors, are not time efficient due to practical acceleration constraint and a number of parameters that need to be tuned. The UAV control problem can be divided into 4 sub-problems: Position Control, Motor Control, Trajectory Tracking and Trajectory Generation. In this thesis, the dynamic equations of motion for quadrotors and a Proportional Derivative control law is derived to solve the problems of Position Control, Motor Control and Trajectory Tracking. A Proportional Navigation (PN) based switching strategy is proposed to address the problem of Trajectory Generation. The experiments and numerical simulations are performed using non-maneuvering and maneuvering targets. The simulation results show that the proposed PN based switching strategy not only carries out effective tracking but also results into smaller oscillations and errors when compared to the widely used PD tracking method. The switching strategy, as proposed as a solution to target tracking problem, leaves an important question with regard to when should the switching happen. It is intuitive that the time of switching will play a role in how fast the UAV converges to the target. The second problem considered in this thesis relates to the optimal time of switching that would minimize the positional error between the UAV and the target. An optimal switching strategy is proposed to obtain the optimal switching time for both non-maneuvering and maneuvering targets. Analytical solutions that generate trajectories based on PN and PD methods are used in this strategy. The numerical simulations validate the optimality, reliability, and accuracy of the proposed method for both non-maneuvering and maneuvering targets.
Download or read book Distributed Autonomous Robotic Systems written by Roderich Groß and published by Springer. This book was released on 2018-03-13 with total page 689 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is an interdisciplinary and rapidly growing area, combining research in computer science, communication and control systems, and electrical and mechanical engineering. Distributed robotic systems can autonomously solve complex problems while operating in highly unstructured real-world environments. They are expected to play a major role in addressing future societal needs, for example, by improving environmental impact assessment, food supply, transportation, manufacturing, security, and emergency and rescue services. The goal of the International Symposium on Distributed Autonomous Robotic Systems (DARS) is to provide a forum for scientific advances in the theory and practice of distributed autonomous robotic systems. This volume of proceedings include 47 original contributions presented at the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), which was held at the Natural History Museum in London, UK, from November 7th to 9th, 2016. The selected papers in this volume are authored by leading researchers from around the world, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into seven parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Distributed Coverage and Exploration; Multi-Robot Control; Multi-Robot Estimation; Multi-Robot Planning; Modular Robots and Smart Materials; Swarm Robotics; and Multi-Robot Systems in Applications.
Download or read book Interactive Collaborative Robotics written by Andrey Ronzhin and published by Springer Nature. This book was released on with total page 445 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Industry 4 0 Interoperability Analytics Security and Case Studies written by G. Rajesh and published by CRC Press. This book was released on 2021-01-31 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: All over the world, vast research is in progress on the domain of Industry 4.0 and related techniques. Industry 4.0 is expected to have a very high impact on labor markets, global value chains, education, health, environment, and many social economic aspects. Industry 4.0 Interoperability, Analytics, Security, and Case Studies provides a deeper understanding of the drivers and enablers of Industry 4.0. It includes real case studies of various applications related to different fields, such as cyber physical systems (CPS), Internet of Things (IoT), cloud computing, machine learning, virtualization, decentralization, blockchain, fog computing, and many other related areas. Also discussed are interoperability, design, and implementation challenges. Researchers, academicians, and those working in industry around the globe will find this book of interest. FEATURES Provides an understanding of the drivers and enablers of Industry 4.0 Includes real case studies of various applications for different fields Discusses technologies such as cyber physical systems (CPS), Internet of Things (IoT), cloud computing, machine learning, virtualization, decentralization, blockchain, fog computing, and many other related areas Covers design, implementation challenges, and interoperability Offers detailed knowledge on Industry 4.0 and its underlying technologies, research challenges, solutions, and case studies
Download or read book Agricultural Drones written by K. R. Krishna and published by CRC Press. This book was released on 2018-03-26 with total page 394 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 Innovative Simulation Systems written by Aleksander Nawrat and published by Springer. This book was released on 2015-07-20 with total page 444 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph provides comprehensive guidelines on the current and future trends of innovative simulation systems. In particular, their important components, such as augmented reality and unmanned vehicles are presented. The book consists of three parts. Each part presents good practices, new methods, concepts of systems and new algorithms. Presented challenges and solutions are the results of research and conducted by the contributing authors. The book describes and evaluates the current state of knowledge in the field of innovative simulation systems. Throughout the chapters there are presented current issues and concepts of systems, technology, equipment, tools, research challenges and current, past and future applications of simulation systems. The book is addressed to a wide audience: academic staff, representatives of research institutions, employees of companies and government agencies as well as students and graduates of technical universities in the country and abroad. The book can be a valuable source of information for constructors and developers of innovative simulation systems and their components. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision or data fusion can find many valuable suggestions and solutions.
Download or read book Towards Industry 5 0 written by Numan M. Durakbasa and published by Springer Nature. This book was released on 2023-03-01 with total page 903 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains selected papers from International Symposium for Production Research 2022, held on October 6–9, 2022, Turkey. The book reports recent advances in production engineering and operations. It explores topics including: production research; production management; operations management; industry 4.0; industrial engineering; mechanical engineering; engineering management; and operational research. Presenting real-life applications, case studies, and mathematical models, this book is of interest to researchers, academics, and practitioners in the field of production and operation engineering. It provides both the results of recent research and practical solutions to real-world problems.
Download or read book Proceedings of Ninth International Congress on Information and Communication Technology written by Xin-She Yang and published by Springer Nature. This book was released on with total page 663 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Big Data Machine Learning and Applications written by Malaya Dutta Borah and published by Springer Nature. This book was released on 2024-01-06 with total page 758 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes refereed proceedings of the Second International Conference on Big Data, Machine Learning, and Applications, BigDML 2021. The volume focuses on topics such as computing methodology; machine learning; artificial intelligence; information systems; security and privacy. This volume will benefit research scholars, academicians, and industrial people who work on data storage and machine learning.
Download or read book Switching in Systems and Control written by Daniel Liberzon and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: The theory of switched systems is related to the study of hybrid systems, which has gained attention from control theorists, computer scientists, and practicing engineers. This book examines switched systems from a control-theoretic perspective, focusing on stability analysis and control synthesis of systems that combine continuous dynamics with switching events. It includes a vast bibliography and a section of technical and historical notes.
Download or read book Unmanned Aerial Systems written by Anis Koubaa and published by Academic Press. This book was released on 2021-01-21 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. - Covers some of the most innovative approaches to drones - Provides the latest state-of-the-art research and development surrounding unmanned aerial systems - Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area
Download or read book Proceedings of 2021 International Conference on Autonomous Unmanned Systems ICAUS 2021 written by Meiping Wu and published by Springer Nature. This book was released on 2022-03-18 with total page 3575 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2021, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2021 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
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 Robotics Vision and Control written by Peter Corke and published by Springer. This book was released on 2011-09-05 with total page 572 pages. Available in PDF, EPUB and Kindle. Book excerpt: The author has maintained two open-source MATLAB Toolboxes for more than 10 years: one for robotics and one for vision. The key strength of the Toolboxes provide a set of tools that allow the user to work with real problems, not trivial examples. For the student the book makes the algorithms accessible, the Toolbox code can be read to gain understanding, and the examples illustrate how it can be used —instant gratification in just a couple of lines of MATLAB code. The code can also be the starting point for new work, for researchers or students, by writing programs based on Toolbox functions, or modifying the Toolbox code itself. The purpose of this book is to expand on the tutorial material provided with the toolboxes, add many more examples, and to weave this into a narrative that covers robotics and computer vision separately and together. The author shows how complex problems can be decomposed and solved using just a few simple lines of code, and hopefully to inspire up and coming researchers. The topics covered are guided by the real problems observed over many years as a practitioner of both robotics and computer vision. It is written in a light but informative style, it is easy to read and absorb, and includes a lot of Matlab examples and figures. The book is a real walk through the fundamentals of robot kinematics, dynamics and joint level control, then camera models, image processing, feature extraction and epipolar geometry, and bring it all together in a visual servo system. Additional material is provided at http://www.petercorke.com/RVC
