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.
8. Path planning
Cameras, Horizon air framework, Image
processing technique, object recognition algorithm
Sensing
Vision based system with downward looking
camera
Filtering
Kalman filter
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/