UAV altitude and attitude stabilisation using a coaxial stereo vision system

Moore, Richard J. D.; Thurrowgood, Saul; Bland, Daniel; Soccol, Dean; Srinivasan, Mandyam V.

doi:10.1109/robot.2010.5509465

Cited by 14 publications

(26 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, performance in terrain following has not yet been evaluated accurately, owing to the difficulty of obtaining the "ground truth" (the actual height of the aircraft above the ground). Other studies investigating the use of optic flow to regulate height above ground are described in References 10,79,169,170,175,196,221,226,245.…”

Section: B Terrain Following Guidance For Aircraftmentioning

confidence: 99%

Honeybees as a Model for the Study of Visually Guided Flight, Navigation, and Biologically Inspired Robotics

Srinivasan

2011

Physiological Reviews

230

186

View full text Add to dashboard Cite

Research over the past century has revealed the impressive capacities of the honeybee, Apis mellifera , in relation to visual perception, flight guidance, navigation, and learning and memory. These observations, coupled with the relative ease with which these creatures can be trained, and the relative simplicity of their nervous systems, have made honeybees an attractive model in which to pursue general principles of sensorimotor function in a variety of contexts, many of which pertain not just to honeybees, but several other animal species, including humans. This review begins by describing the principles of visual guidance that underlie perception of the world in three dimensions, obstacle avoidance, control of flight speed, and orchestrating smooth landings. We then consider how navigation over long distances is accomplished, with particular reference to how bees use information from the celestial compass to determine their flight bearing, and information from the movement of the environment in their eyes to gauge how far they have flown. Finally, we illustrate how some of the principles gleaned from these studies are now being used to design novel, biologically inspired algorithms for the guidance of unmanned aerial vehicles.

show abstract

Section: B Terrain Following Guidance For Aircraftmentioning

confidence: 99%

Honeybees as a Model for the Study of Visually Guided Flight, Navigation, and Biologically Inspired Robotics

Srinivasan

2011

Physiological Reviews

230

186

View full text Add to dashboard Cite

show abstract

“…Refs. [7,8] use stereo vision cameras to avoid the lack of information suffered by a single camera setup. Ref.…”

Section: Altitude Sensingmentioning

confidence: 99%

Evaluation of Altitude Sensors for a Crop Spraying Drone

Hentschke

Freitas

Hennig³

et al. 2018

Drones

View full text Add to dashboard Cite

Abstract:This work aims to study and compare different range finders applied to altitude sensing on a rotating wings UAV. The specific application is the altitude maintenance for the fluid deployment valve aperture control in an unmanned pulverization aircraft used in precision agriculture. The influence of a variety of parameters are analyzed, including the tolerance for crop inconsistencies, density variations and intrinsic factors to the process, such as the pulverization fluid interference in the sensor's readings, as well as their vulnerability to harsh conditions of the operation environment. Filtering and data extraction techniques were applied and analyzed in order to enhance the measurement reliability. As a result, a wide study was performed, enabling better decision making about choosing the most appropriate sensor for each situation under analysis. The performed data analysis was able to provide a reliable baseline to compare the sensors. With a baseline set, it was possible to counterweight the sensors errors and other factors such as the MSE for each environment to provide a summarized score of the sensors. The sensors which provided the best performance in the used metrics and tested environment were Lightware SF11-C and LeddarTech M16.

show abstract

“…These principles have been used to design and implement numerous bio-inspired algorithms for terrestrial and aerial vehicles, including safely navigating through narrow corridors (e.g., [26][27][28][29][30]), avoiding obstacles (e.g., [31]), maintaining a prescribed flight altitude (e.g., [23,32,33]), monitoring and stabilizing flight attitude (e.g., [34][35][36][37]), and docking (e.g., [38][39][40][41][42]) or executing smooth landings (e.g., [43][44][45][46]). This paper will focus primarily on a summary of recent research in our own laboratory, with brief references to directly related work.…”

Section: Vision-based Techniques and Biological Inspirationmentioning

confidence: 99%

Bio-Inspired Principles Applied to the Guidance, Navigation and Control of UAS

2016

View full text Add to dashboard Cite

Abstract:This review describes a number of biologically inspired principles that have been applied to the visual guidance, navigation and control of Unmanned Aerial System (UAS). The current limitations of UAS systems are outlined, such as the over-reliance on GPS, the requirement for more self-reliant systems and the need for UAS to have a greater understanding of their environment. It is evident that insects, even with their small brains and limited intelligence, have overcome many of the shortcomings of the current state of the art in autonomous aerial guidance. This has motivated research into bio-inspired systems and algorithms, specifically vision-based navigation, situational awareness and guidance.

show abstract

UAV altitude and attitude stabilisation using a coaxial stereo vision system

Cited by 14 publications

References 9 publications

Honeybees as a Model for the Study of Visually Guided Flight, Navigation, and Biologically Inspired Robotics

Honeybees as a Model for the Study of Visually Guided Flight, Navigation, and Biologically Inspired Robotics

Evaluation of Altitude Sensors for a Crop Spraying Drone

Bio-Inspired Principles Applied to the Guidance, Navigation and Control of UAS

Contact Info

Product

Resources

About