AUTONOMOUS TARGET FOLLOWING BY UAV

SEMINAR GUIDE

KUBER K.H.

Outlines•Abstract•Introduction•Classification of UAV•Autonomy of UAV•Autonomous target following methods•Application of UAV•Advantage & Disadvantage of UAV•Conclusion•Reference

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.

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.

Target and decoyReconnaissanceCombat Research and developmentCivil and Commercial UAVsLogistics

Sensor fusionCommunicationsPath planningTrajectory Generation/Motion planningTrajectory RegulationTask Allocation and SchedulingCooperative Tactics

Path planningCameras, Horizon air framework, Image

processing technique, object recognition algorithm

SensingVision based system with downward

looking cameraFiltering

Kalman filter

Idle Explore Vision-based tracking GPS-based tracking Align Safe state

Input imageFilteringCar detectionMatching

Taking offFollowing1.Target initialization2.On-time tracking3.Error handlingLanding

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

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

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

Does not contain, or need, a qualified pilot on boardCan enter environments that are dangerous to

human lifeReduces the exposure risk of the aircraft operatorCan stay in the air for up to 30 hrsCan be programmed to complete the mission

autonomously even when contact with it’s GCS is lost

Safer environmentEven if plane crash, pilot still safe.UAVs can go faster

Very expensive to produce and keep upHuman mistake in remote controls can cause

plane to crashComputer 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

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.

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.pdf

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/

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