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Author: Laxmidhar Behera Publisher: ISBN: Category : Technology & Engineering Languages : en Pages : 0
Book Description
This chapter deals with the development of vision-based sliding mode control strategies for a quadrotor system that would enable it to perform autonomous tasks such as take-off, landing and visual inspection of structures. The aim of this work is to provide a basic understanding of the quadrotor dynamical model, key concepts in image processing and a detailed description of the sliding mode control, a widely used robust non-linear control scheme. Extensive MATLAB simulations are presented to enhance the understanding of the controller on the quadrotor system subjected to bounded disturbances and uncertainties. The vision algorithms developed in this chapter would provide the necessary reference trajectory to the controller enabling it to exercise control over the system. This work also describes, in brief, the implementation of the developed control and vision algorithms on the DJI Matrice 100 to present real-time experimental data to the readers of this chapter.
Author: Laxmidhar Behera Publisher: ISBN: Category : Technology & Engineering Languages : en Pages : 0
Book Description
This chapter deals with the development of vision-based sliding mode control strategies for a quadrotor system that would enable it to perform autonomous tasks such as take-off, landing and visual inspection of structures. The aim of this work is to provide a basic understanding of the quadrotor dynamical model, key concepts in image processing and a detailed description of the sliding mode control, a widely used robust non-linear control scheme. Extensive MATLAB simulations are presented to enhance the understanding of the controller on the quadrotor system subjected to bounded disturbances and uncertainties. The vision algorithms developed in this chapter would provide the necessary reference trajectory to the controller enabling it to exercise control over the system. This work also describes, in brief, the implementation of the developed control and vision algorithms on the DJI Matrice 100 to present real-time experimental data to the readers of this chapter.
Author: Victor Becerra Publisher: MDPI ISBN: 3039210300 Category : Technology & Engineering Languages : en Pages : 476
Book Description
Unmanned aerial vehicles (UAVs) are being increasingly used in different applications in both military and civilian domains. These applications include surveillance, reconnaissance, remote sensing, target acquisition, border patrol, infrastructure monitoring, aerial imaging, industrial inspection, and emergency medical aid. Vehicles that can be considered autonomous must be able to make decisions and react to events without direct intervention by humans. Although some UAVs are able to perform increasingly complex autonomous manoeuvres, most UAVs are not fully autonomous; instead, they are mostly operated remotely by humans. To make UAVs fully autonomous, many technological and algorithmic developments are still required. For instance, UAVs will need to improve their sensing of obstacles and subsequent avoidance. This becomes particularly important as autonomous UAVs start to operate in civilian airspaces that are occupied by other aircraft. The aim of this volume is to bring together the work of leading researchers and practitioners in the field of unmanned aerial vehicles with a common interest in their autonomy. The contributions that are part of this volume present key challenges associated with the autonomous control of unmanned aerial vehicles, and propose solution methodologies to address such challenges, analyse the proposed methodologies, and evaluate their performance.
Author: Moussa Labbadi Publisher: Springer Nature ISBN: 3030810143 Category : Technology & Engineering Languages : en Pages : 263
Book Description
This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.
Author: Mahmut Reyhanoglu Publisher: BoD – Books on Demand ISBN: 1789845661 Category : Technology & Engineering Languages : en Pages : 112
Book Description
This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control.
Author: Aleksander Nawrat Publisher: Springer ISBN: 3319003690 Category : Technology & Engineering Languages : en Pages : 348
Book Description
This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.
Author: Diego Alberto Mercado-Ravell Publisher: ISBN: Category : Languages : en Pages : 0
Book Description
The present document addresses, theoretically and experimentally, the most relevant topics for Unmanned Aerial Vehicles (UAVs) in autonomous and semi-autonomous navigation. According with the multidisciplinary nature of the studied problems, a wide range of techniques and theories are covered in the fields of robotics, automatic control, computer science, computer vision and embedded systems, among others. As part of this thesis, two different experimental platforms were developed in order to explore and evaluate various theories and techniques of interest for autonomous navigation. The first prototype is a quadrotor specially designed for outdoor applications and was fully developed in our lab. The second testbed is composed by a non expensive commercial quadrotor kind AR. Drone, wireless connected to a ground station equipped with the Robot Operating System (ROS), and specially intended to test computer vision algorithms and automatic control strategies in an easy, fast and safe way. In addition, this work provides a study of data fusion techniques looking to enhance the UAVs pose estimation provided by commonly used sensors. Two strategies are evaluated in particular, an Extended Kalman Filter (EKF) and a Particle Filter (PF). Both estimators are adapted for the system under consideration, taking into account noisy measurements of the UAV position, velocity and orientation. Simulations show the performance of the developed algorithms while adding noise from real GPS (Global Positioning System) measurements. Safe and accurate navigation for either autonomous trajectory tracking or haptic teleoperation of quadrotors is presented as well. A second order Sliding Mode (2-SM) control algorithm is used to track trajectories while avoiding frontal collisions in autonomous flight. The time-scale separation of the translational and rotational dynamics allows us to design position controllers by giving desired references in the roll and pitch angles, which is suitable for quadrotors equipped with an internal attitude controller. The 2-SM control allows adding robustness to the closed-loop system. A Lyapunov based analysis probes the system stability. Vision algorithms are employed to estimate the pose of the vehicle using only a monocular SLAM (Simultaneous Localization and Mapping) fused with inertial measurements. Distance to potential obstacles is detected and computed using the sparse depth map from the vision algorithm. For teleoperation tests, a haptic device is employed to feedback information to the pilot about possible collisions, by exerting opposite forces. The proposed strategies are successfully tested in real-time experiments, using a low-cost commercial quadrotor. Also, conception and development of a Micro Aerial Vehicle (MAV) able to safely interact with human users by following them autonomously, is achieved in the present work. Once a face is detected by means of a Haar cascade classifier, it is tracked applying a Kalman Filter (KF), and an estimation of the relative position with respect to the face is obtained at a high rate. A linear Proportional Derivative (PD) controller regulates the UAV's position in order to keep a constant distance to the face, employing as well the extra available information from the embedded UAV's sensors. Several experiments were carried out through different conditions, showing good performance even under disadvantageous scenarios like outdoor flight, being robust against illumination changes, wind perturbations, image noise and the presence of several faces on the same image. Finally, this thesis deals with the problem of implementing a safe and fast transportation system using an UAV kind quadrotor with a cable suspended load. The objective consists in transporting the load from one place to another, in a fast way and with minimum swing in the cable.
Author: Laxmidhar Behera
Author: Laxmidhar Behera
Author: Victor Becerra
Author: Moussa Labbadi
Author: Erdinc Altug
Author: Saul Armendariz Puente
Author: Denys Bohdanov
Author: Mahmut Reyhanoglu
Author: Aleksander Nawrat
Author: Maryam Alizadeh
Author: Diego Alberto Mercado-Ravell