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 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 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 Proceedings of 2022 International Conference on Autonomous Unmanned Systems ICAUS 2022 written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, 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 2022 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 Image based Visual Servoing of a Quadrotor Using Model Predictive Control written by Huaiyuan Sheng and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: With numerous distinct advantages, quadrotors have found a wide range of applications, such as structural inspection, traffic control, search and rescue, agricultural surveillance, etc. To better serve applications in cluttered environment, quadrotors are further equipped with vision sensors to enhance their state sensing and environment perception capabilities. Moreover, visual information can also be used to guide the motion control of the quadrotor. This is referred to as visual servoing of quadrotor. In this thesis, we identify the challenging problems arising in the area of visual servoing of the quadrotor and propose effective control strategies to address these issues. The control objective considered in this thesis is to regulate the relative pose of the quadrotor to a ground target using a limited number of sensors, e.g., a monocular camera and an inertia measurement unit. The camera is attached underneath the center of the quadrotor and facing down. The ground target is a planar object consisting of multiple points. The image features are selected as image moments defined in a ``virtual image plane". These image features offer an image kinematics that is independent of the tilt motion of the quadrotor. This independence enables the separation of the high level visual servoing controller design from the low level attitude tracking control. A high-gain observer-based model predictive control (MPC) scheme is proposed in this thesis to address the image-based visual servoing of the quadrotor. The high-gain observer is designed to estimate the linear velocity of the quadrotor which is part of the system states. Due to a limited number of sensors on board, the linear velocity information is not directly measurable. The high-gain observer provides the estimates of the linear velocity and delivers them to the model predictive controller. On the other hand, the model predictive controller generates the desired thrust force and yaw rate to regulate the pose of the quadrotor relative to the ground target. By using the MPC controller, the tilt motion of the quadrotor can be effectively bounded so that the scene of the ground target is well maintained in the field of view of the camera. This requirement is referred to as visibility constraint. The satisfaction of visibility constraint is a prerequisite of visual servoing of the quadrotor. Simulation and experimental studies are performed to verify the effectiveness of the proposed control strategies. Moreover, image processing algorithms are developed to extract the image features from the captured images, as required by the experimental implementation.

Download or read book Proceedings of the 5th International Conference on Electrical Engineering and Control Applications Volume 1 written by Salim Ziani and published by Springer Nature. This book was released on with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Unmanned Aerial Vehicles Applications Challenges and Trends written by Mohamed Abdelkader and published by Springer Nature. This book was released on 2023-06-29 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a book that covers different aspects of UAV technology, including design and development, applications, security and communication, and legal and regulatory challenges. The book is divided into 13 chapters, grouped into four parts. The first part discusses the design and development of UAVs, including ROS customization, structured designs, and intelligent trajectory tracking. The second part explores diverse applications such as search and rescue, monitoring distributed parameter systems, and leveraging drone technology in accounting. The third part focuses on security and communication challenges, including security concerns, multi-UAV systems, and communications security. The final part delves into the legal and regulatory challenges of integrating UAVs into non-segregated airspace. The book serves as a valuable resource for researchers, practitioners, and students in the field of unmanned aerial vehicles, providing a comprehensive understanding of UAV technology and its applications.

Download or read book Dynamic Modeling and Vision Based Mobile Target Tracking in UAVs Using Wide FOV Cameras written by Mohsen Majnoon and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of unmanned aerial vehicles is a very active topic in research with lots of applications ranging from civilian to military. To control a UAV, its attitude is often controlled using gyroscopes, but to control its position, inertial sensors together with GPS are often used. However, obtaining accurate current position is difficult using inertial sensors because of the integration drift. GPS on the other hand is not functional in indoor applications since it cannot connect to GPS satellites. Since vision has been proved to be an inexpensive and consistent source of relative position information, vision-based control is getting more popular in UAVs recently, but then again, using vision in outdoor applications is challenging as the target can move fast and out of the vision sensor field of view. So, in order to keep the target inside the field of view, two algorithms are being developed and tested via simulation in this research. Using pan/tilt/zoom cameras or multi camera systems, the target is guaranteed to stay in vision system field of view and hence, the vision based pose estimation can provide the control system with proper relative position. Two case studies - vision-based mobile-target tracking of a quadrotor using a multi-camera vision sensor and vision-based mobile-target tracking of a tilting rotor aircraft equipped with a zooming camera - are presented in this research to show the applicability of these methods in UAV control.

Download or read book Position Control of a Quadrotor UAV Using Stereo Computer Vision written by Geordi McGrath and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Quadrotors are a recent popular consumer product, prompting further developments with regards to combining attitude and position control for such unmanned aerial vehicles (UAVs). The quadrotor's attitude (orientation) can be controlled using measurements from small and inexpensive sensors such as gyroscopes, accelerometers, and magnetometers combined in a complementary filter. The quadrotor's position can be controlled using a global positioning system (GPS); this has shown to be an effective method but is not reliable in urban or indoor environments where quadrotors may be flown. An alternative method such as visual servoing may provide reliable position control in urban environments. Visual servoing uses one or more on-board cameras to detect visual features in their field-of-view. If more than one camera is used, a more accurate position can be determined. This work discusses the the application of stereo visual servoing to a quadrotor for position control combined in a Kalman filter with IMU readings to provide a better estimate of its position.

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 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 Dynamic Visual Servoing of Rotary Wing Unmanned Aerial Vehicles written by Hui Xie and published by . This book was released on 2016 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual servoing uses camera feedback to control a robot's motion. In particular, Image-based Visual Servoing (IBVS) laws minimize an error signal defined in the image space. This thesis considers IBVS design for rotary-wing Unmanned Aerial Vehicles (UAVs). This is a challenging problem due to the nonlinear perspective projection of image formation and the underactuated nonlinear dynamics of the UAV. Traditional IBVS approaches calculate the six Degrees of Freedom (DoF) velocity reference and feed it into an inner velocity tracking loop. This approach cannot be directly applied to IBVS of an underactuated UAV. To address this issue, all IBVS laws developed in this thesis consider the vehicle's dynamics, and this approach is termed as Dynamic Image-based Visual Servoing (DIBVS). As compared to traditional position regulation or tracking of UAVs, the nonlinear image kinematics leads to systems structure which makes the control problem challenging. In this thesis a state transformation is proposed to eliminate the time derivative of attitude in the image kinematics. This leads to a simpler system structure for control design. The state transformation is obtained by solving a system of first-order homogeneous Partial Differential Equations (PDEs). The existence of solutions is proven and the general solution provided. Using the transformed state, image moment features for a planar target with multiple points or parallel lines are proposed. The state transformation approach requires an attitude measurement which is commonly available for UAVs. However, this measurement contains small bias which results in state-transformation error and introduces a disturbance into the translational velocity dynamics. The state-transformation error is proven to be negligible. In this thesis, a quadrotor is adopted as the UAV platform to validate the proposed DIBVS schemes. The external force or torque is assumed to be the product of an aerodynamic gain and the square of the Pulse Width Modulation (PWM) signal to the Electronic Speed Controller (ESC). This gain gradually decreases as battery voltage drops, and the resulting reduction in thrust has a noticeable effect on UAV motion in practise. The attitude bias, aerodynamic gain, and mass of the UAV are treated as unknown constants. Both Proportional-Integral-Derivative (PID) and adaptive DIBVS schemes are proposed to stabilize image feature error and are robust to this system uncertainty. Although in the transformed image state the convergence appears to remain in the camera Field of View (FoV), this may not be case for the actual camera image. To address this issue, a visual servoing scheme based on a nested saturation law is proposed to constrain the attitude of the quadrotor.

Download or read book Visual Servoing in Robotics written by Jorge Pomares and published by MDPI. This book was released on 2021-08-31 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.

Download or read book Autonomous Navigation and Tracking of Dynamic Surface Targets On board a Computationally Impoverished Aerial Vehicle written by William Clayton Selby and published by . This book was released on 2011 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes the development of an independent, on-board visual servoing system which allows a computationally impoverished aerial vehicle to autonomously identify and track a dynamic surface target. Image segmentation and target tracking algorithms are developed for the specific task of monitoring whales at sea. The computer vision algorithms' estimates prove to be accurate enough for quadrotor stabilization while being computationally fast enough to be processed on-board the platform. This differs from current techniques which require off-board processing of images for vehicle localization and control. The vision algorithm is evaluated on video footage to validate its performance and robustness. The quadrotor is then modeled to motivate and guide the development of Linear Quadratic Regulator (LQR) controllers for maneuvering the quadrotor. The controllers are tuned using a motion capture system which provides ground truth state measurements. The vision system is integrated into the control scheme to allow the quadrotor to track an iCreate. Additionally, an Extended Kalman Filter (EKF) fuses the vision system position estimates with attitude and acceleration measurements from an on-board Inertial Measurement Unit (IMU) to allow the quadrotor to track a moving target without external localization.

Download or read book Handbook of Research on New Investigations in Artificial Life AI and Machine Learning written by Habib, Maki K. and published by IGI Global. This book was released on 2022-02-25 with total page 589 pages. Available in PDF, EPUB and Kindle. Book excerpt: As technology spreads globally, researchers and scientists continue to develop and study the strategy behind creating artificial life. This research field is ever expanding, and it is essential to stay current in the contemporary trends in artificial life, artificial intelligence, and machine learning. This an important topic for researchers and scientists in the field as well as industry leaders who may adapt this technology. The Handbook of Research on New Investigations in Artificial Life, AI, and Machine Learning provides concepts, theories, systems, technologies, and procedures that exhibit properties, phenomena, or abilities of any living system or human. This major reference work includes the most up-to-date research on techniques and technologies supporting AI and machine learning. Covering topics such as behavior classification, quality control, and smart medical devices, it serves as an essential resource for graduate students, academicians, stakeholders, practitioners, and researchers and scientists studying artificial life, cognition, AI, biological inspiration, machine learning, and more.

Download or read book Visual Guidance of Unmanned Aerial Manipulators written by Angel Santamaria-Navarro and published by Springer. This book was released on 2018-08-18 with total page 155 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

Download or read book Visual Servoing written by Rong-Fong Fung and published by BoD – Books on Demand. This book was released on 2010-04-01 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this book is to introduce the visional application by excellent researchers in the world currently and offer the knowledge that can also be applied to another field widely. This book collects the main studies about machine vision currently in the world, and has a powerful persuasion in the applications employed in the machine vision. The contents, which demonstrate that the machine vision theory, are realized in different field. For the beginner, it is easy to understand the development in the vision servoing. For engineer, professor and researcher, they can study and learn the chapters, and then employ another application method.