Design and Construction Methodology of an Indoor UAV System with Embedded Vision
نویسندگان
چکیده
This paper describes the design and construction of an autonomous indoor coaxial rotorcraft system with onboard vision processing capability. A radio-controlled (RC) helicopter was modified and upgraded with essential avionics and processing elements for autonomous flight. This paper shows that in an indoor environment, where GPS signals are unavailable, vision-based navigation system can be used as a substitution. An embedded vision system that is compact and light enough to be carried by indoor UAVs is integrated into the control loop. The system has been successfully tested and the UAV was able to follow a painted track on the ground
منابع مشابه
Real Time Stereo Based Obstacle Detection for UAV Threat Avoidance
We present a system for UAV obstacle detection on embedded hardware based on Sarnoff Corp's Acadia I vision processor for 23Hz 640x480 binocular stereo and 10Hz mincut based recursive bipartition of an affinity graph. We briefly describe the system architecture, followed by performance results on simulated imagery, indoor and outdoor imagery, and flight experiments.
متن کاملA New Vision-Based and GPS-Signal-Independent Approach in Jamming Detection and UAV Absolute Positioning Assessment
The Unmanned Aerial Vehicles (UAV) positioning in the outdoor environment is usually done by the Global Positioning System (GPS). Due to the low power of the GPS signal at the earth surface, its performance disrupted in the contaminated environments with the jamming attacks. The UAV positioning and its accuracy using GPS will be degraded in the jamming attacks. A positioning error about tens of...
متن کاملEmbedded Software Design and System Integration for Rotorcraft Uav Using Platforms
Automation control systems typically incorporate legacy code and components that were originally designed to operate independently. Furthermore, they operate under stringent safety and timing constraints. Current design strategies deal with these requirements and characteristics with ad hoc approaches. In particular, when designing control laws, implementation constraints are often ignored or c...
متن کاملHybrid Control of an Autonomous Helicopter
This paper proposes a hierarchical hybrid architecture of a reactive system that governs the operation of a helicopter based UAV. The mission of the helicopter is to search for, investigate and locate objects in an unknown environment. To perform visual navigation, the helicopter is equipped with a Flight Vehicle Management System(FVMS) and a vision system that scans the ground for objects and ...
متن کاملUAV Localisation & Control Through Computer Vision
A real time monocular vision based localisation system developed for use on a four rotor indoor unmanned aerial vehicle (UAV) is presented. The system makes use of augmented/mixed reality techniques, a video camera and a priori knowledge of features (markers), but not their location. Kalman filtering is used to filter the observed vision data and provide an optimal estimate of the state of the ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Control and Intelligent Systems
دوره 40 شماره
صفحات -
تاریخ انتشار 2012