targetting system
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This document presents an algorithm for the autonomous navigation of unmanned aerial vehicles (UAVs) to follow moving targets, specifically ground vehicles. It discusses various methods of UAV operation, including vision-based and GPS tracking, while addressing both advantages and challenges such as operational risks and mechanical failures. The paper outlines applications of UAVs across diverse fields such as reconnaissance, search and rescue, and scientific research.
targetting system
- 3. Outlines •Abstract •Introduction •Classification of UAV •Autonomy of UAV •Autonomous target following methods •Application of UAV •Advantage & Disadvantage of UAV •Conclusion •Reference
- 4. In this paper we present an algorithm for the autonomous navigation of an unmanned aerial vehicle (UAV) following a moving target. It gives applicable method for the tracking of ground vehicles by aerial vehicles. It depends on the capability to follow waypoint commands. Sensing of ground vehicle position with significant time delays is assumed. The delays model the time of image processing, and the communication delays involved in sending data to a ground station, performing the computations and receiving the results on the UAV.
- 5. The UAV is an acronym for Unmanned Aerial Vehicle, which is an aircraft with no pilot on board. UAVs can be remote controlled aircraft .(e.g. flown by a pilot at a ground control station) or can fly autonomously based on pre-programmed flight plans or more complex dynamic automation systems.
- 6. Target and decoy Reconnaissance Combat Research and development Civil and Commercial UAVs Logistics
- 7. Sensor fusion Communications Path planning Trajectory Generation/Motion planning Trajectory Regulation Task Allocation and Scheduling Cooperative Tactics
- 8. Path planning Cameras, Horizon air framework, Image processing technique, object recognition algorithm Sensing Vision based system with downward looking camera Filtering Kalman filter
- 9. Idle Explore Vision-based tracking GPS-based tracking Align Safe state
- 11. Taking off Following 1. Target initialization 2. On-time tracking 3. Error handling Landing
- 12. Colour based vision tracking is used. Camera attached to the airframe of UAV, pointing downwards, IMU & Barometer Data is transmitted between UAV & GCS through radio transmission GCS done computation
- 13. Pan-tilt camera, PWM servo driven, 2-axis (pitch-yaw) controller with gimbal position feedback sensor for plane orientation tracking Sensor stabilized with flight software using IMU feed forward technique for target tracking Target coordinates computed in ECEF
- 14. Remote sensing Commercial aerial surveillance Domestic policing Oil, gas and mineral exploration and production Transport Scientific research Armed attacks Civilian casualties Search and rescue Conservation Forest fire detection Archaeology Future potential
- 15. Does not contain, or need, a qualified pilot on board Can enter environments that are dangerous to human life Reduces the exposure risk of the aircraft operator Can stay in the air for up to 30 hrs Can be programmed to complete the mission autonomously even when contact with it’s GCS is lost Safer environment Even if plane crash, pilot still safe. UAVs can go faster
- 16. Very expensive to produce and keep up Human mistake in remote controls can cause plane to crash Computer systems or software could break down resulting in loss of plane and casualities on ground. In adverse weather such as rain, snow, ice, frost or fog UAV can not be launched or land or perform its function. Often mechanical failures
- 17. UAV follows lateral guidance law for autonomous target following. A full vision-based tracking , a color-based tracking, GPS tracking, Image processing techniques, Object recognition algorithm, Real time vision algorithm etc. are followed by UAV for autonomous target following.
- 18. Concorde Technical Specs, http://www.concordesst.com/autopilot.html UAV Roadmap 2005-2030, www.fas.org/irp/program/collect/uav_roadmap2005.pdf Dp-5X, X-50 Dragonfly, http://www.defensetech.org/archives/001748.html UAVs as Tactical wingmen, http://web.mit.edu/aeroastro/www/labs/halab/papers/UAV_wingmen_AUVSIdraft.pd f Autopilot Design, http://www.aiaa.org/content.cfm? pageid=406&gTable=mtgpaper&gID=95289 Flight Systems and Goals http://www.aa.washington.edu/research/afsl/
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