Development of Autonomous Cargo Transport for an Unmanned Aerial Vehicle Using Visual Servoing

2008 ◽  
Author(s):  
Noah R. Kuntz ◽  
Paul Y. Oh
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Visual Servoing ◽  
Tracking System ◽  
Computer Control ◽  
Open Loop ◽  
Velocity Control ◽  
Ground Station ◽  
Cargo Transport ◽  
Aerial Vehicle ◽  
Design And Testing

This paper presents the design and testing of systems for autonomous tracking, payload pickup, and deployment of cargo via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a 3DOF gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to control the camera pan tilt unit as well as a second pan tilt unit with a hook mounted on the end of the arm. The ability of the pickup system to hook a target is tested by mounting it on the gantry while recorded helicopter velocities are played back by the gantry. A preliminary semi-autonomous deployment system is field tested, where a manually controlled RC truck is transported by a UAV helicopter under computer control that is manually directed to GPS waypoints using a ground station.

Towards Autonomous Cargo Deployment and Retrieval by an Unmanned Aerial Vehicle Using Visual Servoing

2008 ◽  
Author(s):  
Noah R. Kuntz ◽  
Paul Y. Oh
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Visual Servoing ◽  
Tracking System ◽  
Computer Control ◽  
Open Loop ◽  
Velocity Control ◽  
Design And Implementation ◽  
Ground Station ◽  
Aerial Vehicle ◽  
Three Degree Of Freedom

This paper presents the design and implementation of systems for autonomous tracking, payload pickup, and deployment of a 1/10th scale RC vehicle via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a three degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to control the camera pan tilt unit as well as a second pan tilt unit with a hook mounted on the end of the arm. The ability of the pickup system to hook a target is tested by mounting it on the gantry while recorded helicopter velocities are played back by the gantry. A preliminary semi-autonomous deployment system is field tested, where a manually controlled RC car is transported by a UAV helicopter under computer control that is manually directed to GPS waypoints using a ground station.

An auto-landing strategy based on pan-tilt based visual servoing for unmanned aerial vehicle in GNSS-denied environments

2021 ◽  
pp. 106891
Author(s):  
Chengbin Chen ◽  
Sifan Chen ◽  
Guangsheng Hu ◽  
Baihe Chen ◽  
Pingping Chen ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Visual Servoing ◽  
Aerial Vehicle

scholarly journals Improvement in energy conversion for unmanned aerial vehicle charging pad

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 &amp; 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>

UNMANNED AERIAL VEHICLE DETECTION AND JAMMING RADIO COMPLEX

2018 ◽  
pp. 19-24
Author(s):  
A. V. Ksendzuk
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Tracking System ◽  
Systems Development ◽  
Low Energy ◽  
Schematic Diagram ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Navigation Equipment ◽  
Missile System

Modern threats for anti-missile system and space surveillance and tracking system objects include terroristic and unidentifiable unmanned aerial vehicle. To counter these threats a concept of radar complex for unmanned aerial vehicles jamming and detection proposed. Complex consists of non-radiating radio locator, radio warfare station and global navigation jamming radar. Structure, principle of operation and basic technical characteristics of these systems described. Counter-drone actions algorithm in proposed complex described and analyzed. Results of mom-radiating radar development in JSC MAK Vimpel and its experimental investigation described. Precision of estimation range, velocity and angular location described. Jamming effectiveness estimator schematic diagram proposed. Jamming effectiveness may be estimated on navigation equipment or program models of prospective GPS receivers. Results of effective jamming signal development presented. Results may be used in small low-energy counter drone radioelectronic systems development for anti-missile and Space Surveillance and Tracking system objects.

IN-HOUSE DEVELOPMENT OF UNMANNED AERIAL VEHICLE AUTOMATIC ANTENNA TRACKING SYSTEM

2015 ◽  
Vol 76 (4) ◽  
Author(s):  
Md Fahmi Abd Samad ◽  
Mohd Izhar Harun
Keyword(s):  
Unmanned Aerial Vehicle ◽  
System Integration ◽  
Tracking System ◽  
Low Cost ◽  
Radio Communication ◽  
Data Link ◽  
Testing Stage ◽  
Software Development System ◽  
Cost Development ◽  
Aerial Vehicle

The control of an unmanned aerial vehicle (UAV) requires a two-way radio communication between the UAV and ground control station (GCS). This radio communication is achieved through the use of antennas as medium of recital and transmission in the data-link system. This paper presents the project of an in-house low-cost development of a UAV automatic antenna tracking system. The presentation includes the control system design, hardware and software development, system integration and testing stage. The development ended with a successfully operational automatic antenna tracking system in a benchtop testing and validation.

Tracking from Unmanned Aerial Vehicles

2015 ◽  
Vol 781 ◽  
pp. 491-494
Author(s):  
Channa Meng ◽  
John Morris ◽  
Chattraku Sombattheera
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Moving Objects ◽  
Light Weight ◽  
Ground Station ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Individual Tracking

We use multiple tracking agents in parallel for autonomously tracking an arbitrary target from an unmanned aerial vehicle. An object initially selected by a user from a possibly cluttered scene containing other static and moving objects and occlusions - both partial and complete - is tracked as long as it remains in view using a single light-weight camera readily installed in a UAV. We assumed, for the present, at least, that the UAV sends images to a ground station which controls it. We evaluated several individual tracking agents in terms of tracking success and their times for processing frames streamed from the UAV to the ground station at 25 fps, so that the system shoud compute results in 40ms. Histogram trackers were most successful at $\sim 10$ ms per frame which can be further optimized.

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