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.
UAV Collaboration for Autonomous Target Capture
Lecture Notes on Data Engineering and Communications Technologies
01.07.2022
16 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch