A Rational Approach to the Problem of Accurate UAV Landing Using Intelligent Image Processing Methods

This paper is devoted to the description of preliminary results of solving two problems related to the problem of accurate unmanned aerial vehicle (UAV) landing. The first task is to develop a methodology for rational choice of the landing platform image, which ensures the best recognition by an UAV from any angle and a reasonable observation distance. The second task is to develop a procedure for a sequential analysis of the current situation, forthcoming of the UAV to the platform and accurate landing. To solve these problems, it is proposed to use the previously developed intelligent processing methods based on the using of the structural properties of an image. In particular, the technique is applied using the Weibull distribution model for the gradient magnitude of an image and its components. Numerical results are presented that show the prospects of the proposed procedures and the directions for improving the developed techniques.

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Improvement in energy conversion for unmanned aerial vehicle charging pad

Indonesian Journal of Electrical Engineering and Computer Science ◽

10.11591/ijeecs.v17.i2.pp767-773 ◽

2020 ◽

Vol 17 (2) ◽

pp. 767

Author(s):

M. R. AL-Obaidi ◽

M. A. Mustafa ◽

W.Z.W. Hassan ◽

N. Azis ◽

A. H. Sabry ◽

...

Keyword(s):

Unmanned Aerial Vehicle ◽

Design Methodology ◽

Font Size ◽

Contact Charging ◽

Charging Station ◽

Ground Station ◽

Landing Platform ◽

Aerial Vehicle ◽

Fully Automatic ◽

Software And Hardware

<span style="font-size: 9pt; font-family: 'Times New Roman', serif;">An efficient charging station is a necessity for Unmanned Aerial Vehicle (UAV) systems. However, if that implementation adds more complexity and onboard weight, then that exercise becomes a burden rather than a benefit since UAV's engineers aim to improve efficiency by reducing the energy consumed by the software and hardware of the complete aeronautical system. This article recommends a fully automatic contact charging station for UAVs, which can charge UAVs and thus resolve flight endurance restrictions of the UAV. The ground station consists of square copper plates that are positively and negatively polarized successively in a chessboard with particular sizes to guarantee electric contact at the landing. The design methodology used with the loading station takes into account the differences in UAV orientation once the platform has landed. In addition, this innovation uses independent charging after touchdown. Thus, this technology relaxes common flight times and help to enhance general mission times. This paper presents a unique charging platform in a “chessboard” configuration, which is devised as an interconnecting interface to facilitate the charging process and overcome inaccuracies with the landing. The solution devised in this research requires few components and presents two power source options (solar & mains power). Additionally, this work presents, to the best of our knowledge, a uniquely innovative recharging landing platform, which incidentally requires no additional software or changes to the UAV’s onboard software settings</span><span style="font-size: 9pt; font-family: Arial, sans-serif;">.</span>

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Review of Stellite Alloys Intelligent Processing Methods in China

Proceedings of the 2015 2nd International Conference on Machinery, Materials Engineering, Chemical Engineering and Biotechnology ◽

10.2991/mmeceb-15.2016.6 ◽

2016 ◽

Author(s):

Xiao-Guang Yue ◽

Zhi-Gang Liu ◽

Xiao-Zhi Wang

Keyword(s):

Processing Methods ◽

Intelligent Processing

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A Precise and GNSS-Free Landing System on Moving Platforms for Rotary-Wing UAVs

Sensors ◽

10.3390/s19040886 ◽

2019 ◽

Vol 19 (4) ◽

pp. 886 ◽

Cited By ~ 3

Author(s):

Francisco Alarcón ◽

Manuel García ◽

Ivan Maza ◽

Antidio Viguria ◽

Aníbal Ollero

Keyword(s):

Relative Position ◽

Unmanned Helicopter ◽

Landing Position ◽

Moving Platforms ◽

Landing Platform ◽

Aerial Vehicle ◽

The Stability ◽

Novel Concept ◽

High Level ◽

Rotary Wing

This article presents a precise landing system that allows rotary-wing UAVs to approach and land safely on moving platforms, without using GNSS at any stage of the landing maneuver, and with a centimeter level accuracy and high level of robustness. This system implements a novel concept where the relative position and velocity between the aerial vehicle and the landing platform are calculated from the angles of a cable that physically connects the UAV and the landing platform. The use of a cable also incorporates a number of extra benefits, such as increasing the precision in the control of the UAV altitude. It also facilitates centering the UAV right on top of the expected landing position, and increases the stability of the UAV just after contacting the landing platform. The system was implemented in an unmanned helicopter and many tests were carried out under different conditions for measuring the accuracy and the robustness of the proposed solution. Results show that the developed system allowed landing with centimeter accuracy by using only local sensors and that the helicopter could follow the landing platform in multiple trajectories at different velocities.

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Vision-based pose estimation of a multi-rotor unmanned aerial vehicle

International Journal of Intelligent Unmanned Systems ◽

10.1108/ijius-10-2018-0030 ◽

2019 ◽

Vol 7 (3) ◽

pp. 120-132

Author(s):

Kashish Gupta ◽

Bara Jamal Emran ◽

Homayoun Najjaran

Keyword(s):

Unmanned Aerial Vehicle ◽

Three Dimensional ◽

Processing System ◽

Training Procedure ◽

Autonomous Landing ◽

Content Type ◽

Landing Platform ◽

Aerial Vehicle ◽

Autopilot Systems ◽

Practical Implications

Purpose The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach. Design/methodology/approach Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time. Findings The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles. Practical implications The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV. Originality/value The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.

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Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.789-790.883 ◽

2015 ◽

Vol 789-790 ◽

pp. 883-888 ◽

Cited By ~ 1

Author(s):

Wojciech Janusz ◽

Roman Czyba ◽

Grzegorz Szafrański ◽

Michał Niezabitowski

Keyword(s):

Vehicle Dynamics ◽

High Performance ◽

Vertical Axis ◽

Open Loop ◽

Indirect Measurements ◽

Parameter Estimations ◽

Landing Platform ◽

Standard Configuration ◽

Aerial Vehicle ◽

Practical Model

Development of a reliable high-performance multirotor unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This paper describes the process and results of the dynamic modeling of an unmanned aerial platform known as quadrotor. To model a vehicle dynamics, elementary physical and aerodynamical principles has been employed. Parameter estimations, from a UAV design have been obtained through direct and indirect measurements. In addition to standard configuration of VTOL (Vertical Take-Off and Landing) platform, the amortized landing gear, modeled as spring-damper system, has been added. The resulting model has been implemented in a simulation environment under MATLABs toolbox, SIMULINK. Some numerical results are presented to illustrate response of the open loop system to specific commands.

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Estimation of Canopy Area of Fruit Trees Using Light Unmanned Aerial Vehicle (UAV) and Image Processing Methods

Turkish Journal of Agriculture - Food Science and Technology ◽

10.24925/turjaf.v8i5.1039-1042.3164 ◽

2020 ◽

Vol 8 (5) ◽

pp. 1039-1042

Author(s):

Adil Koray Yıldız ◽

Hakan Keles ◽

Servet Aras

Keyword(s):

Image Processing ◽

Unmanned Aerial Vehicle ◽

Fruit Trees ◽

Processing Methods ◽

Area Index ◽

Canopy Development ◽

Canopy Area ◽

The Status ◽

Aerial Vehicle ◽

Method R

Some vegetative properties measured in fruit trees are important indicators in examining of plant growth calculation, estimation of leaf area index in evapotranspiration, fertilizer requirement etc. These measurements reflect the effects of the cultivation treatments in many areas of commercial growing and scientific studies. One of the most important measurements is the status of the canopy development. Canopy width, area and volume can be measured with some calculations. However, more technological equipment may be needed to reduce work and labor, and to make the results more precise and clearer. Recently, unmanned aerial vehicles, which have become widespread, have a wide potential for use in agriculture. By using image processing methods, it is possible to make more objective and high accuracy evaluations much faster. In this study, the images of the apple trees (Malus domestica Borkh) cultivar Golden grafted onto MM106 rootstock, were taken by light unmanned aerial vehicle to calculate the canopy area and then these images were analyzed using image processing methods for calculating canopy areas. Both circular and elliptical calculation methods were used. The area calculations with image processing methods were compared with the areas obtained manually. Comparisons were made by regression analysis. For the most successful method R value was 0.9662 for elliptic area and 0.9346 for circular area which was calculated by image processing. The results demonstrated that the image processing can be an alternative method to determine the canopy area according to accuracy ratios.

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