Design and Flight Tests of a Drone for Delivery Service

김성환,; 이두기,; 천재희,; 김승재,; 유기호,

doi:10.5302/j.icros.2016.16.8001

Cited by 11 publications

(4 citation statements)

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“…Previous studies have employed wheel encoders for position estimation, merging inertia sensors or image data to determine the current position. [12][13][14][15][16][17][18] Research also explores indoor localization using Wi-Fi, [19][20][21][22] ultra-wideband (UWB) communication modules, [23][24][25][26][27] global positioning system (GPS), [28][29][30] and real-time kinematic (RTK) GPS. 31,32 The limitations of conventional GPS, with errors within several meters, and RTK GPS, which introduces error variance based on distance from the reference station, pose challenges for precise robot localization, particularly on inclined solar panels.…”

Section: Introductionmentioning

confidence: 99%

“…Previous studies have employed wheel encoders for position estimation, merging inertia sensors or image data to determine the current position. 12–18 Research also explores indoor localization using Wi-Fi, 19–22 ultra-wideband (UWB) communication modules, 23–27 global positioning system (GPS), 28–30 and real-time kinematic (RTK) GPS. 31 ,32…”

Section: Introductionmentioning

confidence: 99%

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Localization of solar panel cleaning robot combining vision processing and extended Kalman filter

Kim,

Lee,

Kim

et al. 2024

Science Progress

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In this study, we introduce a method for estimating the position of a self-driving solar panel-cleaning mobile robot. This estimation relies on line counts, typically 16 cm in panel width, obtained through image processing on the panel floor, along with wheel encoder information and inertial sensor data. To achieve accurate line counts, we introduce two adjusted threshold values and allow offsets in these values based on the robot's speed. Additionally, inertial measurement unit (IMU) signals assist in determining whether a line is horizontal or vertical, depending on the robot's movement direction on the panel, utilizing the robot's heading angle and detected line angle. When the robot is positioned between lines on the panel, more precise location estimation is necessary beyond simple line counts. To tackle this challenge, we integrate the extended Kalman filter with IMU data and encoder information, significantly enhancing position estimation. This integration achieves an RMSE accuracy value of up to 0.089 m, notably at a relatively high speed of 100 mm/s. This margin of error is almost half that of the vision-based line-counting method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Localization of solar panel cleaning robot combining vision processing and extended Kalman filter

Kim,

Lee,

Kim

et al. 2024

Science Progress

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“…Z. proposed a control system for a new structure of multicopter with its propellers installed in three different directions [16]. In Seong-Hwan, Kim's study, an unmanned delivery service using drone was proposed, and the feasibility of its successful application was verified [17]. In most previous studies, the verification of the feasibility of the control method is limited to the simulation stage of a mathematical model.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental testing of safe flight control system for novel vertical take-off and landing aircraft

Nie¹,

Zhu²,

Wei³

et al. 2022

J. vibroeng.

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This paper describes the design and flight test of the control system of a novel octocopter with new topology to improve aerodynamic performance and efficiency. The article analyzes the advantages of the new configuration and analyzes the feasibility of the control method which can ensure fault-tolerant control when one rotor of the aircraft stops in theory. The feasibility verification is carried out through a prototype flight test. The power and hardware platform of the octocopter UAV was set up according to the requirements of structural and control system design. Flight tests were carried out multiple times, and the UAV's redundant actuation was able to successfully stabilize the vehicle, even after a single rotor stopped functioning. Under normal flight conditions, smooth flight and effective control could be ensured for the UAV, while under the condition of a single rotor having stopped functioning, the control method was able to effectively utilize the other seven rotors to provide a proper lift force and to control the aircraft to perform basic motions such as pitch, roll, and yaw.

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“…As a matter of a fact, the market of drones is growing rapidly, and it is expected to double within 5 years [1]. At the same time, the cost of drones is decreasing dramatically thus enabling new applications designed for smart cities, including environmental monitoring and surveillance [2,3], and goods delivery [4,5]. Although current legislative restrictions limit a wide diffusion of drones, especially in densely populated areas, the further improvements in automatic guidance systems may open to scenarios where drones are tightly coupled with cloud-based systems.…”

Section: Introductionmentioning

confidence: 99%

Sensing the cities with social-aware unmanned aerial vehicles

Chessa

Girolami

Mavilia

et al. 2017

2017 IEEE Symposium on Computers and Communications (ISCC)

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The increasing diffusion of smart devices opens to a new era for collecting large quantities of data from urban areas. Sensing information can be collected by using existing network infrastructures, but also by adopting small, cheap and configurable aerial vehicles, namely drones. Our work focusses on studying how to optimize their adoption for smart city applications designed to gather sensing data from user's devices roaming on the ground. To this purpose, we used HUMsim, a tool which generates realistic human traces, to mimic pedestrian mobility. From this dataset, we extract some sociality features that we exploit to plan a social-aware drone trajectory with the goal of maximizing the opportunities of interaction between drone and devices. Our experiments compare social-aware and social-oblivious trajectories showing that knowing the way people move and interact boosts the amount of retrievable data

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Design and Flight Tests of a Drone for Delivery Service

Cited by 11 publications

References 0 publications

Localization of solar panel cleaning robot combining vision processing and extended Kalman filter

Localization of solar panel cleaning robot combining vision processing and extended Kalman filter

Design and experimental testing of safe flight control system for novel vertical take-off and landing aircraft

Sensing the cities with social-aware unmanned aerial vehicles

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