Constrained Control of UAVs in Geofencing Applications

Hermand, Elie; Nguyen, Tam W.; Hosseinzadeh, Mehdi; Garone, Emanuele

doi:10.1109/med.2018.8443035

Cited by 58 publications

(30 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To determine the p s (s) corresponding to the aforementioned conversion, Equations (12) and (13) are organized by the fundamental theorem of calculus as follows:…”

Section: Histogram Equalizationmentioning

confidence: 99%

“…This result is substituted into dr/ds of Equation (12) and all probabilities must be positive, resulting in the following equation:…”

Section: Histogram Equalizationmentioning

confidence: 99%

“…Lin et al [10] used a vision system combined with fuzzy control and employed single-objective particle swarm optimization to plan the dynamic path of their underwater vehicle, and compared the optimal solutions based on time and energy consumption. Other literatures regarding path planning of unmanned vehicles can be referred to [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Development of an Image Processing Module for Autonomous Underwater Vehicles through Integration of Visual Recognition with Stereoscopic Image Reconstruction

Lin

Chen

Tsou

2019

JMSE

View full text Add to dashboard Cite

This study investigated the development of visual recognition and stereoscopic imaging technology, applying them to the construction of an image processing system for autonomous underwater vehicles (AUVs). For the proposed visual recognition technology, a Hough transform was combined with an optical flow algorithm to detect the linear features and movement speeds of dynamic images; the proposed stereoscopic imaging technique employed a Harris corner detector to estimate the distance of the target. A physical AUV was constructed with a wide-angle lens camera and a binocular vision device mounted on the bow to provide image input. Subsequently, a simulation environment was established in Simscape Multibody and used to control the post-driver system of the stern, which contained horizontal and vertical rudder planes as well as the propeller. In static testing at National Cheng Kung University, physical targets were placed in a stability water tank; the study compared the analysis results obtained from various brightness and turbidity conditions in out-of-water and underwater environments. Finally, the dynamic testing results were combined with a fuzzy controller to output the real-time responses of the vehicle regarding the angles, rates of the rudder planes, and the propeller revolution speeds at various distances.

show abstract

“…To determine the p s (s) corresponding to the aforementioned conversion, Equations (12) and (13) are organized by the fundamental theorem of calculus as follows:…”

Section: Histogram Equalizationmentioning

confidence: 99%

“…This result is substituted into dr/ds of Equation (12) and all probabilities must be positive, resulting in the following equation:…”

Section: Histogram Equalizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of an Image Processing Module for Autonomous Underwater Vehicles through Integration of Visual Recognition with Stereoscopic Image Reconstruction

Lin

Chen

Tsou

2019

JMSE

View full text Add to dashboard Cite

show abstract

“…Localization is also one of the major challenges of UAVs. They require information about precise location in to order to avoid obstacles [25] and for trajectory planning [26]. UAVs can, in general, implement similar localization approaches as mobile robots.…”

Section: Related Workmentioning

confidence: 99%

Scan Matching by Cross-Correlation and Differential Evolution

et al. 2019

View full text Add to dashboard Cite

Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.

show abstract

“…In geofencing or geocaging systems, e.g. [18], [19], virtual surfaces are traditionally used to limit the motion of the vehicle, forbidding entering or exiting predefined flight areas or volumes. In this work, the motion of the MAV is guaranteed to remain on the virtual surface along which the operator can freely guide it.…”

Section: Introductionmentioning

confidence: 99%

MAV tele-operation constrained on virtual surfaces for inspection of infrastructures

Dietrich

Marzat

Sanfourche

et al. 2020

2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

View full text Add to dashboard Cite

This paper presents a tele-operation system that enables a MAV to be controlled on virtual surfaces by an unskilled operator using high-level inputs. These virtual surfaces can be placed relatively to the infrastructure to be inspected, in order to ensure safety of the flight and repeatability of the acquisition conditions of the inspection data (e.g. at a constant distance from the infrastructure). The architecture, interface and embedded controller of the tele-operation system are described, and results from flight experiments in an industrial warehouse are provided for three typical inspection scenarios of infrastructures.

show abstract

Constrained Control of UAVs in Geofencing Applications

Cited by 58 publications

References 11 publications

Development of an Image Processing Module for Autonomous Underwater Vehicles through Integration of Visual Recognition with Stereoscopic Image Reconstruction

Development of an Image Processing Module for Autonomous Underwater Vehicles through Integration of Visual Recognition with Stereoscopic Image Reconstruction

Scan Matching by Cross-Correlation and Differential Evolution

MAV tele-operation constrained on virtual surfaces for inspection of infrastructures

Contact Info

Product

Resources

About