Extending quad-rotor UAV autonomy with onboard image processing
Turnbaugh, Bradley R.
Yakimenko, Oleg A.
MetadataShow full item record
One of the most dynamic technological advances of the last decade is the development of unmanned and autonomous vehicles. For the military, these vehicles represent a safer and more efficient way of fighting wars in aerial, ground, maritime, and underwater domains. Public and private companies have also vigorously researched these vehicles and used them for a wide range of tasks, from search-and-rescue operations to building inspections. Navigating these vehicles typically involves the use of GPS or other external cues to follow a path, detecting for and correcting errors along the way. The purpose of this research is to investigate the feasibility of tracking a ground target using a quadrotor that navigates solely based on relative position to the target. To achieve this goal, the quadrotor, a Quanser Qball-X4, is fitted with a small camera. By processing the camera’s image and utilizing pitch, roll, and altitude data from other onboard sensors, a targeting solution can be derived. To track the target, the tracking vehicle defines error as any deviation from the desired angular offset from that target, continuously correcting that error to maintain its desired offset. By using relative position, the tracking vehicle can continue to follow the target using its onboard camera.
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
Center for Autonomous Vehicle Research (CAVR) (2013);New flight experiment where two AR.Drone quadrotors was performed at CAVR lab at NPS! In these flight tests the quadrotors are tasked to follow predefined paths (computed off-line), while coordinating their position and ...
Yang, Chuan-Hao (Monterey California. Naval Postgraduate School, 2005-12);It is desirable in many applications that a mobile robot is able to track and follow a person. There have been various efforts in literature to create person-tracking robots. However, current person-tracking robots are ...
Allen, Robert L., III (Monterey, California: Naval Postgraduate School, 2017-06);Quadrotor drones pose a safety hazard when operated in or near controlled airspace. A hazardous quadrotor could be intercepted and removed by another quadrotor. In this thesis, we seek to determine if optimal control methods ...