scholarly journals Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual-inertial Approach

2021 ◽  
Author(s):  
Ching-Wei Chang ◽  
Li-Yu Lo ◽  
Hiu Ching Cheung ◽  
Yurong Feng ◽  
An-Shik Yang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Guidance System ◽  
Autonomous Landing ◽  
Ground Vehicle ◽  
Ground Station ◽  
Aerial Vehicle ◽  
Promising Solution ◽  
Marine Vessels ◽  
Long Endurance

This work aims to develop an autonomous system for the unmanned aerial vehicle (UAV) to land on a moving platform such as the automobile or marine vessels, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Different from most state-of-the-art UAV landing frameworks which rely on UAV’s onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such novel configuration can therefore lighten the burden of the UAV and computation power on the ground vehicle/marine vessel could be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted and the result shows that a precise autonomous landing on a 43 X 43 cm platform could be performed.

scholarly journals Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach

Sensors ◽  
2022 ◽  
Vol 22 (1) ◽  
pp. 404
Author(s):  
Ching-Wei Chang ◽  
Li-Yu Lo ◽  
Hiu Ching Cheung ◽  
Yurong Feng ◽  
An-Shik Yang ◽  
...  
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Guidance System ◽  
Autonomous Landing ◽  
Ground Vehicle ◽  
Ground Station ◽  
Moving Platforms ◽  
Promising Solution ◽  
Long Endurance ◽  
Indoor And Outdoor

This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.

Autonomous landing of a quadrotor on a moving platform using vision-based FOFPID control

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
Ali Ghasemi ◽  
Farhad Parivash ◽  
Serajeddin Ebrahimian
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Control Law ◽  
Unmanned Ground Vehicle ◽  
Autonomous Landing ◽  
Actuator Dynamics ◽  
Ground Vehicle ◽  
Vision Positioning ◽  
Aerial Vehicle ◽  
Quadrotor System

Abstract This research deals with the autonomous landing maneuver of a quadrotor unmanned aerial vehicle (UAV) on an unmanned ground vehicle (UGV). It is assumed that the UGV moves independently, and there is no communication and collaboration between the two vehicles. This paper aims at the design of a closed-loop vision-based control system for quadrotor UAV to perform autonomous landing maneuvers in the possible minimum time despite the wind-induced disturbance force. In this way, a fractional-order fuzzy proportional-integral-derivative controller is introduced for the nonlinear under-actuated system of a quadrotor. Also, a feedback linearization term is included in the control law to compensate model nonlinearities. A supervisory control algorithm is proposed as an autonomous landing path generator to perform fast, smooth, and accurate landings. On the other hand, a compound AprilTag fiducial marker is employed as the target of a vision positioning system, enabling high precision relative positioning in the range between 10 and 350 cm height. A software-in-the-loop simulation testbed is realized on the windows platform. Numerical simulations with the proposed control system are carried out, while the quadrotor system is exposed to different disturbance conditions and actuator dynamics with saturated thrust output are considered.

scholarly journals Moving target tracking method for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system based on AprilTags

2020 ◽  
Vol 53 (3-4) ◽  
pp. 427-440 ◽  
Author(s):  
Xiao Liang ◽  
Guodong Chen ◽  
Shirou Zhao ◽  
Yiwei Xiu
Keyword(s):  
Target Tracking ◽  
Unmanned Aerial Vehicle ◽  
Heterogeneous System ◽  
Control Method ◽  
Heterogeneous Systems ◽  
Moving Target ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Collaborative Tracking ◽  
Aerial Vehicle

Using the characteristics of unmanned aerial vehicle/unmanned ground vehicle, heterogeneous systems can accomplish many complex tasks cooperatively. Moving target tracking is an important basis for the relative positioning and formation maintenance of heterogeneous cooperative systems. This paper first introduces the unmanned aerial vehicle/unmanned ground vehicle collaborative tracking task and heterogeneous system. In order to maintain the original stability of unmanned aerial vehicle, a control method based on SBUS protocol to simulate remote control is proposed. About unmanned ground vehicle with Mecanum wheel, a detailed description of control method is designed. For the problems of real-time performance and occlusion, a tracking scheme based on AprilTag identification is studied. The scheme tracks the Tag target in the case of no occlusion. When occlusion occurs, the scheme tracks the color feature around the Tag. The accuracy of the tracking algorithm and the problem of occlusion are greatly improved. Finally, the scheme is applied to the heterogeneous systems. Simulation and experimental results show that the proposed method is suitable for unmanned aerial vehicle/unmanned ground vehicle heterogeneous system to perform the collaborative tracking task.

Autonomous Unmanned Aerial Vehicle System for Controlling Pest Bird Population in Vineyards

2012 ◽  
Author(s):  
Brian A. Grimm ◽  
Brooke A. Lahneman ◽  
Peter B. Cathcart ◽  
Robert C. Elgin ◽  
Greg L. Meshnik ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Method ◽  
Guidance System ◽  
Crop Loss ◽  
Control Methods ◽  
Willamette Valley ◽  
Bird Population ◽  
Management Culture ◽  
Control Techniques ◽  
Aerial Vehicle

Pest birds have long been a significant source of crop loss for grape growers, especially during the critical weeks leading up to harvest when grape sugar levels are high. In Oregon’s Willamette Valley, vineyards have seen a marked increase in crop loss in the last few years despite widespread use of intrusive gas cannons/shotguns and expensive netting systems. In order to deter this pest bird population, we have created an Unmanned Aerial Vehicle (UAV) package capable of autonomous flight, which incorporates common pest bird scare tactics into this dynamic platform. The system has been designed to launch, complete its mission waypoints, and land completely under autonomous control. By using this autonomous guidance system, we are able to employ visual, auditory, and predator mimicry pest bird control techniques in such a way as to discourage habituation. While radio controlled UAVs have been used for bird control in airport settings for many years, these systems require a trained operator to constantly guide the aircraft. The autonomous UAV system was designed for operation by an existing vineyard employee with minimal training. To capture widely accepted pest bird control techniques and management culture of Willamette Valley vineyards and gain information for design, implementation, and industry acceptance of this UAV project, we surveyed the owners of 225 local vineyards. Survey results indicated that vineyard owners are open to implementing innovative pest bird control methods that do not affect the terroir of their vineyards and that could replace the use of netting, which they do not view favorably despite its being the most effective pest bird control method to date. Results also indicated that pest birds are most damaging to a vineyard’s perimeter and that many vineyards employ someone to patrol this perimeter with a shotgun loaded with cracker shells. The UAV system is able to traverse the airspace above this perimeter without interfering with neighboring homes or beneficial predators in the area. By using proven pest bird control methods in an autonomous UAV system, we designed a device that brings an innovative solution to vineyard owners.

scholarly journals PID Parameters Auto-Tuning on GPS-based Antenna Tracker Control using Fuzzy Logic

2018 ◽  
Vol 6 (3) ◽  
pp. 122-128
Author(s):  
Ahmad Riyandi ◽  
Sumardi Sumardi ◽  
Teguh Prakoso
Keyword(s):  
Fuzzy Logic ◽  
Pid Control ◽  
Control Method ◽  
Elevation Angle ◽  
Directional Antenna ◽  
Proportional Integral ◽  
Ground Station ◽  
Moving Vehicles ◽  
Aerial Vehicle ◽  
Average Rise

The moving vehicles require an antenna to communicate which is placed on the vehicles and at the ground station (ground control station, GCS). Generally, GCS uses a directional antenna equipped with the drive system with the conventional proportional, proportional-integral, or proportional-integral-derivative (PID) control, and step-tracking algorithms based on the received signal strength indicator (RSSI). This research used PID control method tuned with fuzzy logic based on Global Positioning System (GPS) to control a directional antenna at GCS. The resulting antenna tracker system was capable of tracking objects with a minimal error of 0° at azimuth and elevation angle and had a maximal error of 49° for a 49 km/hour speed object. The system had an average rise time of 0.7 seconds at an azimuth angle and 1.08 seconds at an elevation angle. This system can be used to control antenna direction for moving vehicles, such as an unmanned aerial vehicle (UAV) and rocket.

scholarly journals Design and Implementation of a Tether-Powered Hexacopter for Long Endurance Missions

2021 ◽  
Vol 11 (24) ◽  
pp. 11887
Author(s):  
Kai-Hung Chang ◽  
Shao-Kang Hung
Keyword(s):  
Precision Agriculture ◽  
Research Work ◽  
Specific Area ◽  
Electrical Energy ◽  
Theoretical Models ◽  
Flight Time ◽  
Intelligent Surveillance ◽  
Ground Station ◽  
Aerial Vehicle ◽  
Long Endurance

A tether-powered unmanned aerial vehicle is presented in this article to demonstrate the highest altitude and the longest flight time among surveyed literature. The grid-powered ground station transmits high voltage electrical energy through a well-managed conductive tether to a 2-kg hexacopter hovering in the air. Designs, implementations, and theoretical models are discussed in this research work. Experimental results show that the proposed system can operate over 50 m for 4 h continuously. Compared with battery-powered multicopters, tether-powered ones have great advantages on specific-area long-endurance applications, such as precision agriculture, intelligent surveillance, and vehicle-deployed cellular sites.

scholarly journals Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiao Liang ◽  
Honglun Wang ◽  
Haitao Luo
Keyword(s):  
Visual Field ◽  
Heterogeneous System ◽  
Three Dimensional ◽  
Unmanned Ground Vehicle ◽  
Worst Case ◽  
Ground Vehicle ◽  
Pursuit Evasion ◽  
Evasion Game ◽  
Evasion Strategy ◽  
Aerial Vehicle

The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

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