Tony, Lima AgnelJana, ShuvrangshuVarun, V. P.Shorewala, ShantamVidyadhara, B. V.Gadde, Mohitvishnu S.Kashyap, AbhishekRavichandran, RahulKrishnapuram, RaghuGhose, DebasishCapturing moving objects using unmanned aerial vehicles (UAVs) is a challenging task. Many UAV applications require the capture of dynamic aerial targets. Successful interception requires accurate detection of the object, continuous tracking, and safe engagement without damaging any involving vehicles. This work presents the algorithmic details and hardware implementation for capturing a moving ball in a collaborative framework in an outdoor environment. The tracking and grabbing algorithm is developed using image-based guidance from the information of a monocular camera. The target image is detected and tracked using ML-based algorithm and Kalman filter. Finally, the proposed framework is simulated in ROS-Gazebo to evaluate the performance of individual algorithms and further implemented on hardware to validate the system’s real-time performance. The proposed system could be utilized for several applications like counter-UAV systems, fruit picking, among many others.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    UAV Collaboration for Autonomous Target Capture


    Weitere Titelangaben:

    Lecture Notes on Data Engineering and Communications Technologies


    Beteiligte:
    Saraswat, Mukesh (Herausgeber:in) / Sharma, Harish (Herausgeber:in) / Balachandran, K. (Herausgeber:in) / Kim, Joong Hoon (Herausgeber:in) / Bansal, Jagdish Chand (Herausgeber:in) / Tony, Lima Agnel (Autor:in) / Jana, Shuvrangshu (Autor:in) / Varun, V. P. (Autor:in) / Shorewala, Shantam (Autor:in) / Vidyadhara, B. V. (Autor:in)


    Erscheinungsdatum :

    01.07.2022


    Format / Umfang :

    16 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    On Deep Reinforcement Learning for Target Capture Autonomous Guidance

    Siddique, Umer / Sinha, Abhinav / Cao, Yongcan | AIAA | 2024


    Autonomous drone with ability to track and capture an aerial target

    Garcia, Manuel / Caballero, Rafael / Gonzalez, Fidel et al. | IEEE | 2020