This paper presents the development of an object path following algorithm for a quadcopter using on-board vision and localization. This development aims to increase capabilities of autonomous unmanned aerial vehicles (UAV), with the use of object path following. By following an object's path, reliance on obstacle avoidance strategies can be reduced, under the assumption that the object's path is free of static obstacles. Relative position of the target has been estimated using onboard processing and monocular vision. On-board localization has been achieved through dead-reckoning, where velocity estimates are calculated from optical flow. Horizontal positional estimates with a standard deviation of 6.5cm have been achieved experimentally with this method. The use of optical flow allows for localization in GPS-denied environments. Both the position and path following can successfully run in moderate winds and variable lighting. The UAV can station- keep to within 40 cm of desired position. The object's path can be followed with an rms error of 28 cm and maximum deviation of 78 cm.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Vision-based object path following on a quadcopter for GPS-denied environments


    Beteiligte:


    Erscheinungsdatum :

    2017-06-01


    Format / Umfang :

    518396 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Computer Vision Based General Object Following for GPS-denied Multirotor Unmanned Vehicles

    Pestana Puerta, Jesús / Sanchez Lopez, Jose Luis / Saripalli, Srikanth et al. | BASE | 2014

    Freier Zugriff

    Monocular Vision based Navigation in GPS-Denied Riverine Environments

    Yang, Junho / Rao, Dushyant / Chung, Soon-Jo et al. | AIAA | 2011


    Monocular Vision based Navigation in GPS-Denied Riverine Environments

    Yang, J. / Rao, D. / Chung, S.-J. et al. | British Library Conference Proceedings | 2011


    Vision-based SLAM system for MAVs in GPS-denied environments

    Urzua, Sarquis / Munguía Alcalá, Rodrigo Francisco / Grau Saldes, Antoni | BASE | 2017

    Freier Zugriff

    Vision-Based SLAM System for Small UAVs in GPS-Denied Environments

    Park, Jungkeun / Im, Sunggyu / Lee, Keun-Hwan et al. | ASCE | 2011