Nonlinear Vision-Based Observer for Visual Servo Control of an Aerial Robot in Global Positioning System Denied Environments

2018 ◽  
Vol 10 (6) ◽  
Author(s):  
Dejun Guo ◽  
Hesheng Wang ◽  
Kam K. Leang
Keyword(s):  
Global Positioning System ◽  
Closed Loop ◽  
Servo Control ◽  
Nonlinear Observer ◽  
Positioning System ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Global Positioning ◽  
The World ◽  
Aerial Robot

This paper presents a nonlinear vision-based observer to estimate 3D translational position and velocity of a quadrotor aerial robot for closed-loop, position-based, visual-servo control in global positioning system (GPS)-denied environments. The method allows for motion control in areas where GPS signals are weak or absent, for example, inside of a building. Herein, the robot uses a low-cost on-board camera to observe at least two feature points fixed in the world frame to self-localize for feedback control, without constraints on the altitude of the robot. The nonlinear observer described takes advantage of the geometry of the perspective projection and is designed to update the translational position and velocity in real-time by exploiting visual information and information from an inertial measurement unit. One key advantage of the algorithm is it does not require constraints or assumptions on the altitude and initial estimation errors. Two new controllers based on the backstepping technique that take advantage of the estimator's output are described and implemented for trajectory tracking. The Lyapunov method is used to show asymptotic stability of the closed-loop system. Simulation and experimental results from an indoor environment where GPS localization is not available are presented to demonstrate feasibility and validate the performance of the observer and control system for hovering and tracking a circular trajectory defined in the world frame.

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

2017 ◽  
Author(s):  
Dejun Guo ◽  
Kam K. Leang
Keyword(s):  
Closed Loop ◽  
Tall Buildings ◽  
Linear Velocity ◽  
Servo Control ◽  
Adaptive Observer ◽  
Visual Servo ◽  
Visual Servo Control ◽  
The World ◽  
Aerial Robot ◽  
Velocity Information

This paper presents a new nonlinear adaptive vision-based observer to estimate position and linear velocity information for closed-loop position-based visual servo control of an aerial robot in GPS-denied environments. Specifically, the observer determines the position and linear velocity of the robot for closed-loop control by observing using a low-cost on-board camera at least two feature points fixed in the world frame. The nonlinear adaptive observer takes advantage of the geometry of perspective projection, and is designed to update position and velocity information in real-time. Thus, there are no constraints or assumptions on the depth and initial estimation errors. Furthermore, the proposed parameter estimator addresses the challenge in situations where GPS signals may be weak, unreliable, or nonexistent, such in valleys, canyons, and between tall buildings, or inside of a building and under dense canopy. For closed-loop tracking control using the estimated position and velocity information, a backstepping controller is employed for the underactuated aerial robot system. The Lyapunov method is used to show stability of the closed-loop system. Simulation and experimental results are presented that validate the performance of the observer and control system for hovering and tracking a circular trajectory, where both are defined in the world (lab) frame.

Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features

2007 ◽  
Vol 130 (1) ◽  
Author(s):  
R. Mahony ◽  
P. Corke ◽  
T. Hamel
Keyword(s):  
Optic Flow ◽  
Closed Loop ◽  
Initial Conditions ◽  
Adaptive Estimation ◽  
Loop System ◽  
Servo Control ◽  
Visual Servo ◽  
Closed Loop System ◽  
Visual Servo Control ◽  
Vision Measurement

This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an un-normalized spherical centroid and an optic flow measurement. The image-plane dynamics with respect to force input are dependent on the height of the camera above the target plane. This dependence is compensated by introducing virtual height dynamics and adaptive estimation in the proposed control. A fully nonlinear adaptive control design is provided that ensures asymptotic stability of the closed-loop system for all feasible initial conditions. The choice of control gains is based on an analysis of the asymptotic dynamics of the system. Results from a realistic simulation are presented that demonstrate the performance of the closed-loop system. To the author’s knowledge, this paper documents the first time that an image-based visual servo control has been proposed for a dynamic system using vision measurement for both position and velocity.

scholarly journals Dynamic Image-Based Visual Servo Control For An Aerial Robot: Theory and Experiments

2008 ◽  
Vol 2 (3) ◽  
pp. 296-325 ◽  
Author(s):  
Florent Le Bras ◽  
Robert Mahony ◽  
Tarek Hamel ◽  
Paolo Binetti
Keyword(s):  
Servo Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Dynamic Image ◽  
Aerial Robot ◽  
Theory And Experiments

scholarly journals Automatic Identification of Maritime Boundary Alert System using GPS

2018 ◽  
Vol 7 (3.1) ◽  
pp. 20
Author(s):  
A Kavitha ◽  
N Ashok Kumar ◽  
M Revathy
Keyword(s):  
Global Positioning System ◽  
End Users ◽  
Security Requirements ◽  
Automatic Identification ◽  
Positioning System ◽  
Alert System ◽  
Maritime Boundary ◽  
Wide Range ◽  
Global Positioning ◽  
The World

Global Positioning System (GPS) is being used more and more for a wide range of applications. This is a reliable position, navigation for end-users of anywhere in the world or around the globe, on any weather, day or night. The synchronization benefit gives that the GPS has three segments: space, control and client GPS has turned into a broadly utilized route apparatus over the world and turn into a helpful instrument for mapping, overviews, business, logical utilizations, checking and diversion has gone. As in any of the current GPS systems of geographic and entertainment, the security requirements of civilian navigation in the sea are met because the sea border of a country cannot be marked. This work concentrates on the flexibility and utility of a GPS in the ocean. The principle motivation behind the work is to help anglers explore past the limits of different nations. In the event that an angler goes past the limits of the nation, at that point a notice emerges, showing that the anglers have crossed the outskirt. Furthermore, a GSM transmitter interface will make an impression on construct station situated with respect to the shore showing that a vessel has crossed the fringe. Hence protects in the shore can help and give extra help to those anglers if necessary. Remembering about existences of Indian anglers, this gadget has been made to help them not to move past Indian. Overall, it is an endeavor to fabricate an appropriate gadget for the anglers at a sensibly ease.  

scholarly journals Facial recognition system using LBPH face recognizer for anti-theft and surveillance application based on drone technology

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1070-1077
Author(s):  
Li Wang ◽  
Ali Akbar Siddique
Keyword(s):  
Global Positioning System ◽  
Facial Recognition ◽  
Local Binary Patterns ◽  
Recognition System ◽  
Positioning System ◽  
Complex Task ◽  
Global Positioning ◽  
The World ◽  
Facial Recognition System ◽  
Surveillance Application

Providing security to the citizens is one of the most important and complex task for the governments around the world which they have to deal with. Street crimes and theft are the biggest threats for the citizens and their belonging. In order to provide security, there is an urgent need of a system that is capable of identifying the criminal in the crowded area. This paper proposes a facial recognition system using Local Binary Patterns Histogram Face recognizer mounted on drone technology. The facial recognition capability is a key feature for a drone to have in order to find or identify the person within the crowd. With the inception of drone technology in the proposed system, we can use it as a surveillance drone as well through which it can cover more area as compared to the stationary system. As soon as the system identifies the desired person, it tags him and transmits the image along with the co-ordinates of the location to the concerned authorities using mounted global positioning system. Proposed system is capable of identifying the person with the accuracy of approximately 89.1%.

Navstar GPS – Charting Aspects

1992 ◽  
Vol 45 (3) ◽  
pp. 344-351
Author(s):  
Nigel R. L. Gooding
Keyword(s):  
Global Positioning System ◽  
Historical Development ◽  
Data Availability ◽  
Early 20Th Century ◽  
Positioning System ◽  
New Developments ◽  
Factors Affecting ◽  
Global Positioning ◽  
The World ◽  
Proper Consideration

The historical development of positioning in relation to the nautical chart is very briefly described. Present nautical charts are largely based on geodetic surveys which date from the 19th and early 20th century. This gave rise to the use of many local datums and there has been a need to provide the mariner with information to enable him to transfer his position from one chart to an adjacent one on a different datum. The sizes of discrepancies in position between various datums are given. The availability of the Global Positioning System (GPS) and the World Geodetic System 1984 (WGS 84) datum enables positioning on a single worldwide datum to become a reality. The important factors affecting the adoption of WGS 84 as the datum for nautical charts, namely data availability and the practical and political considerations, are discussed. The importance of the proper consideration of datum in relation to new developments in the use of nautical charts is also mentioned.

HAND–EYE COORDINATION THROUGH ENDPOINT CLOSED-LOOP AND LEARNED ENDPOINT OPEN-LOOP VISUAL SERVO CONTROL

2005 ◽  
Vol 02 (02) ◽  
pp. 203-224 ◽  
Author(s):  
CHRIS GASKETT ◽  
ALEŠ UDE ◽  
GORDON CHENG
Keyword(s):  
Visual Cues ◽  
Closed Loop ◽  
Open Loop ◽  
Servo Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Motor Mapping ◽  
Hand Eye Coordination ◽  
Coordination System ◽  
Bimanual Reaching

We propose a hand-eye coordination system for a humanoid robot that supports bimanual reaching. The system combines endpoint closed-loop and open-loop visual servo control. The closed-loop component moves the eyes, head, arms, and torso, based on the position of the target and the robot's hands, as seen by the robot's head-mounted cameras. The open-loop component uses a motor-motor mapping that is learnt online to support movement when visual cues are not available.

Unraveling the Travel Behavior of Carsharing Members from Global Positioning System Traces

2013 ◽  
Vol 2359 (1) ◽  
pp. 59-67 ◽  
Author(s):  
Benoit Leclerc ◽  
Martin Trépanier ◽  
Catherine Morency
Keyword(s):  
Global Positioning System ◽  
Travel Behavior ◽  
Positioning System ◽  
Car Sharing ◽  
Short Trip ◽  
Stop Criterion ◽  
Global Positioning ◽  
The World ◽  
Three Components

As carsharing becomes increasingly popular throughout the world, it would be of interest to understand better the underlying characteristics of the trips made by members when they use the cars. To date, few studies have reported carsharing trip details. This paper presents a methodology to analyze three components of a station-based carsharing member's journey: the locations of the stops, the attributes of the trips, and the characteristics of the trip chains. The method is based on the processing of Global Positioning System traces collected onboard car-sharing vehicles; a 5-min stop criterion is used to divide the trip chains into separate trips. The case study involves the Communauto system in the Greater Montreal area, Quebec, Canada. The study shows that carsharing members make more trips within their trip chains than typical car owners do. However, those trips are shorter and are often made for purposes other than work (shopping or visiting, for example). Members tend to maximize the use of the cars during the rental period (the members are on the move up to 50% of the time for short trip chains and 30% of the time for longer trips).

A Study of Baseline Values for Copper and Lead in Four Subtypes of Surface Soils in Hohhot City, China

2012 ◽  
Vol 518-523 ◽  
pp. 4670-4674
Author(s):  
Jun Xian Shi ◽  
Zeng Fang Huang
Keyword(s):  
Information System ◽  
Global Positioning System ◽  
Inner Mongolia ◽  
Quality Standard ◽  
Positioning System ◽  
Surface Soils ◽  
Icp Ms ◽  
Global Positioning ◽  
The World ◽  
Baseline Values

The baseline values of Copper (Cu) and Lead(Pb) in four subtypes of soil in Hohhot, Inner Mongolia in China were proposed by testing the Cu and Pb contents in surface soils over an area of 4713km2．The soil subtypes were distinguished by GIS (Geographic Information System) and the 928 sample locations were roughly uniformly distributed using portable GPS (Global Positioning System).The proposed baseline values of Cu and Pb were derived from the experimental results of ICP-MS analyses and then were calculated by probability density function. The results illustrate that the baseline value of Cu in the Fluvo—aquic Soil was the highest(18.83 mg kg-1 ),and that Pb in Diluvial Alluvial Topsoil was the highest (17.50 mg kg-1),which are far lower than the corresponding Class One thresholds in Environmental Quality Standard for Soils in China (GB15618-1995) (EQSSC).This experience gained in this work further suggests that baseline values should be proposed in other areas in the world.

WiDRIVE Safety Innovation: Wireless Device for Regulation and Information on Vehicular Events

2016 ◽  
Vol 835 ◽  
pp. 781-787
Author(s):  
Russel Dela Torre ◽  
Wenald Lopez
Keyword(s):  
Global Positioning System ◽  
Positioning System ◽  
Traffic Jams ◽  
Car Accidents ◽  
Controlling Mechanism ◽  
Global Positioning ◽  
The World ◽  
Private And Public ◽  
Wide Scale ◽  
Wireless Device

Private and public transportations are use as common mobility of people, making it important to know where traffic congestions, car accidents and other related vehicular activities that may ruin your way to office works or to your destinations be avoided. Philippines is known to be one of the most traffic congested in the world due to uncontrollable volumes of cars running in major streets every day. In this paper, a proposed wireless device that can be attached to a vehicle was developed to track the route using global positioning system, perform geo fencing and perform controlling mechanism to help the driver locates a shortest path, avoid traffic jams, and do messaging and traffic advisories based on contacts and information stored in the software utilities. Based on initial testing, the software is capable of recording and reading vehicle logs, activating GPS route, reading accelerometer log, and reading compass log as bases of controlling mechanism while the device is activated, WiDrive. Result shows that WiDrive is reliable as it successfully mapped to the GPS, and passed the crash accelerometer test at different distance. If given a chance to improve and implement in a wide scale testing, an exponential benefits can be achieved.

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