scholarly journals In-Flight Tests of Intruder Detection Vision System

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7360
Author(s):  
Paweł Rzucidło ◽  
Grzegorz Jaromi ◽  
Tomasz Kapuściński ◽  
Damian Kordos ◽  
Tomasz Rogalski ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Vision System ◽  
Flight Tests ◽  
Aerial Vehicles ◽  
Intruder Detection ◽  
The Common ◽  
Collision Avoidance System ◽  
Formal Requirements ◽  
Near Future

In the near future, the integration of manned and unmanned aerial vehicles into the common airspace will proceed. The changes taking place mean that the safety of light aircraft, ultralight aircraft and unmanned air vehicles (UAV) will become an increasing problem. The IDAAS project (Intruder Detection And collision Avoidance System) meets the new challenges as it aims to produce technically advanced detection and collision avoidance systems for light and unmanned aerial vehicles. The work discusses selected elements of research and practical tests of the intruder detection vision system, which is part the of IDAAS project. At the outset, the current formal requirements related to the necessity of installing anticollision systems on aircraft are presented. The concept of the IDAAS system and the structure of algorithms related to image processing are also discussed. The main part of the work presents the methodology developed for the needs of dedicated flight tests, its implementation and the results obtained. The initial tests of the IDAAS system carried out on an ultralight aircraft generally indicate the possibility of the effective detection of intruders in the airspace with the use of vision methods, although they also indicated the existence of conditions in which this detection may prove difficult or even impossible.

scholarly journals Selected elements of visual inspection of the collision avoidance system for light and unmanned aircraft

2019 ◽  
Vol 20 (1-2) ◽  
pp. 265-271 ◽  
Author(s):  
Grzegorz Jaromi ◽  
Damian Kordos ◽  
Tomasz Rogalski ◽  
Paweł Rzucidło ◽  
Piotr Szczerba
Keyword(s):  
Image Processing ◽  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Main Part ◽  
Visual Inspection ◽  
Unmanned Aircraft ◽  
Collision System ◽  
Aerial Vehicles ◽  
Collision Avoidance System ◽  
Formal Requirements

The work discusses selected elements of research and practical tests of the vision anti-collision system, designed for ultralight and light aircraft and unmanned aerial vehicles. At the outset, current formal requirements related to the necessity of installing anti-collision systems on aircraft are presented. The concept of IDAAS (Intruder Detection And collision Avoidance System for light aircraft) and the structure of algorithms related to image processing were presented. The main part of the work is to discuss the selected scenarios implemented during the research.

scholarly journals Development of Non Expensive Technologies for Precise Maneuvering of Completely Autonomous Unmanned Aerial Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 391
Author(s):  
Luca Bigazzi ◽  
Stefano Gherardini ◽  
Giacomo Innocenti ◽  
Michele Basso
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Video Stream ◽  
Measurement Unit ◽  
Absolute Position ◽  
Light Load ◽  
Aerial Vehicles ◽  
Angular Velocities ◽  
Custom Hardware

In this paper, solutions for precise maneuvering of an autonomous small (e.g., 350-class) Unmanned Aerial Vehicles (UAVs) are designed and implemented from smart modifications of non expensive mass market technologies. The considered class of vehicles suffers from light load, and, therefore, only a limited amount of sensors and computing devices can be installed on-board. Then, to make the prototype capable of moving autonomously along a fixed trajectory, a “cyber-pilot”, able on demand to replace the human operator, has been implemented on an embedded control board. This cyber-pilot overrides the commands thanks to a custom hardware signal mixer. The drone is able to localize itself in the environment without ground assistance by using a camera possibly mounted on a 3 Degrees Of Freedom (DOF) gimbal suspension. A computer vision system elaborates the video stream pointing out land markers with known absolute position and orientation. This information is fused with accelerations from a 6-DOF Inertial Measurement Unit (IMU) to generate a “virtual sensor” which provides refined estimates of the pose, the absolute position, the speed and the angular velocities of the drone. Due to the importance of this sensor, several fusion strategies have been investigated. The resulting data are, finally, fed to a control algorithm featuring a number of uncoupled digital PID controllers which work to bring to zero the displacement from the desired trajectory.

Intelligent cooperative collision avoidance via fuzzy potential fields

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Daegyun Choi ◽  
Anirudh Chhabra ◽  
Donghoon Kim
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Fuzzy Inference ◽  
Potential Fields ◽  
Rule Base ◽  
Local Minima ◽  
Inference System ◽  
Aerial Vehicles ◽  
Different Shapes ◽  
Simulation Results

Summary This paper proposes an intelligent cooperative collision avoidance approach combining the enhanced potential field (EPF) with a fuzzy inference system (FIS) to resolve local minima and goal non-reachable with obstacles nearby issues and provide a near-optimal collision-free trajectory. A genetic algorithm is utilized to optimize parameters of membership function and rule base of the FISs. This work uses a single scenario containing all issues and interactions among unmanned aerial vehicles (UAVs) for training. For validating the performance, two scenarios containing obstacles with different shapes and several UAVs in small airspace are considered. Multiple simulation results show that the proposed approach outperforms the conventional EPF approach statistically.

scholarly journals Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽  
2018 ◽  
Vol 8 (1) ◽  
pp. 1 ◽  
Author(s):  
Sunan Huang ◽  
Rodney Swee Huat Teo ◽  
Wenqi Liu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Case Studies ◽  
Collision Avoidance ◽  
Hardware In The Loop ◽  
Crucial Issue ◽  
Communication Failure ◽  
Aerial Vehicles ◽  
Avoidance Control ◽  
Velocity Obstacle ◽  
Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

scholarly journals TRENDS IN THE DEVELOPMENT OF UNMANNED AVIATION COMPLEXES AND THEIR RADIO EQUIPMENT

2021 ◽  
pp. 248-256
Author(s):  
Oleksandr Brytov ◽  
Yurii Chmil ◽  
Volodymyr Dzhus ◽  
Oleksandr Koplik ◽  
Dmitro Kozlov ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Aerial Vehicles ◽  
Military Conflicts ◽  
Radio Equipment ◽  
Promising Application ◽  
Near Future

The issues of modern trends in the development of unmanned aviation complexes are considered. The main ways of their current and promising application are given, the main differences from pilot. The main ways of improving radio equipment of unmanned aviation complexes are considered. It is listed that in the near future, unmanned aerial vehicles will significantly affect the progress of military conflicts.

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