Multisensor Equipped Uav/Ugv for Automated Exploration

Batzdorfer, Simon; Bobbe, Markus; Becker, Martin; Harms, Hans-Heinrich; Bestmann, Ulf

doi:10.5194/isprs-archives-xlii-2-w6-33-2017

Cited by 6 publications

(3 citation statements)

References 1 publication

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“…Digital surface models generated from UAV-borne sensor data capture are becoming useful tools in many applications such as rapid mapping for disasters (Batzdorfer et al 2017), heritage documentation (Chiabrando and Losè 2017), building inspection (Duarte et al 2017), power line corridors mapping (Maurer et al 2017), tree crown structure mapping (Hese and Behrendt 2017), wetland species mapping and coastal environmental mapping (Taddia et al 2017). For all these applications UAVs are used to collect data at very high spatial and/or temporal resolutions.…”

Section: Related Workmentioning

confidence: 99%

Crop Height Monitoring Using a Consumer-Grade Camera and UAV Technology

Belton

Helmholz

Long

et al. 2019

PFG

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Recent advances in the ability to capture high spatial resolution images by unmanned aerial vehicles (UAVs) have shown the potential of this technology for a wide range of application including exploring the effects of different external stimuli when monitoring environmental and structural variables. In this paper, we show the application of UAV technology for crop height monitoring and modelling to provide quantitative crop growth data and demonstrate the remote sensing and photogrammetric capabilities of the technology to the farming industry. This study was carried out in a field trial involving a combination of six wheat varieties and three different fungicide treatments. The UAV imagery of the field trial site was captured on five occasions throughout crop development. These were used to create digital surface models from which crop surface models (CSMs) were extracted for the cropped areas. Crop heights are estimated from the photogrammetric derived CSMs and are compared against the reference heights captured using Real-Time Kinematic Global Navigation Satellite System (GNSS) to validate the CSMs. Furthermore, crop growth differences among varieties are analysed; and crop height correlations with grain yield as well as with independently estimated vegetation indices are evaluated. These evaluations show that the technology is suitable (with average bias range 2-10 cm depending on wind conditions relative to GNSS height) and has potential for quantitative and qualitative monitoring of canopy and/or crop height and growth. Keywords Crop monitoring • Crop surface model • Digital surface model • Low-cost sensor system • Unmanned aerial vehicles • UAV in agriculture Zusammenfassung Überwachung von Getreidehöhen mit einer handelsüblichen Kamera und UAV Technologie. Jüngste Fortschritte bei der Erfassung von Bildern mit hoher Auflösung durch unbemannte Luftfahrzeuge (Unmanned Aerial Vehicles, UAV) haben das Potenzial dieser Technologie für einen breiten Anwendungsbereich aufgezeigt, einschließlich der Untersuchung der Auswirkungen verschiedener externer Reize bei der Überwachung von Umgebungs-und Strukturvariablen. In diesem Artikel zeigen wir die Anwendung der UAV-Technologie zur Überwachung und Modellierung von Getreidehöhen, um quantitative Getreidewachstumshöhen bereitzustellen und die Fernerkundungs-und photogrammetrische Fähigkeiten der Technologie für die Landwirtschaft zu demonstrieren. Diese Studie wurde in einem Feldversuch mit einer Kombination von sechs Weizensorten und drei verschiedenen Pilzbehandlungen durchgeführt. Die UAV-Bilder des Feldversuchsgeländes wurden während der gesamten Ernteentwicklung fünfmal aufgenommen. Diese Bilder wurden verwendet, um digitale Oberflächenmodelle (Digital Surface Models-DSMs) zu erstellen, aus denen Getreideoberflächenmodelle (Crop Surface Models-CSMs) für die Versuchsflächen extrahiert wurden. Die Erntehöhen werden aus den photogrammetrisch abgeleiteten CSMs geschätzt DGPF

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Section: Related Workmentioning

confidence: 99%

Crop Height Monitoring Using a Consumer-Grade Camera and UAV Technology

Belton

Helmholz

Long

et al. 2019

PFG

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“…This kind of system can have practical applications for search and rescue missions. Some recent projects such as ICARUS [37] and ANKommEn [38] aims to develop a platform using multiple UAV and UGV for exploration of disaster scenarios for the detection of survivors and to provide maps in order to assist in maximizing the efficiency of Search and Rescue (SAR) operations.…”

Section: Introductionmentioning

confidence: 99%

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

Oussar¹,

Ferrag²,

Guiatni³

et al. 2021

Intelligent Automation &Amp; Soft Computing

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This paper presents the design of a robust architecture for the tracking of an unmanned ground vehicle (UGV) by an unmanned aerial vehicle (UAV). To enhance the robustness of the ground vehicle in the face of external disturbances and handle the non-linearities due to inputs saturation, an integral sliding mode controller was designed for the task of trajectory tracking. Stabilization of the aerial vehicle is achieved using an integral-backstepping solution. Estimation of the relative position between the two agents was solved using two approaches: the first solution (optimal) is based on a Kalman filter (KF) the second solution (robust) uses a smooth variable structure filter (SVSF). Simulations results, based on the full non-linear model of the two agents are presented in order to evaluate the performance and robustness of the proposed tracking architecture.

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“…Unmanned aerial/ground vehicles (UAV/UGV) collaboration is a new top-notch technology capable of broadening the application scope of UAV and UGV, allowing them to perform reconnaissance, searching and other missions more efficiently (Reardon and Fink, 2016; Batzdorfer et al ., 2017). UAV has two substantial advantages over the general UGV (Pippin et al , 2010).…”

Section: Introductionmentioning

confidence: 99%

Path planning based on map matching in UAV/UGV collaboration system

Huo

Zenkevich

Nazarova

et al. 2019

IJIUS

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Purpose Unmanned aerial/ground vehicles (UAV/UGV) collaboration systems are increasingly being used to perform reconnaissance and rescue missions autonomously, especially in disaster areas. The paper aims to discuss this issue. Design/methodology/approach To improve visibility, this study proposes a path-planning algorithm based on map matching. Continuous ground images are first collected aerially using the UAV vision system. Subsequently, a global map of the ground environment is created by processing the collected images using the methods of image correction, image mosaic and obstacle recognition. The local map of the ground environment is obtained using the 2D laser radar sensor of the UGV. A set of features for both global and local maps is established. Unknown values during map matching are determined via the least squares method. Based on the matched mapping, the traditional A* algorithm is used for the planning of global path in the global map, and the dynamic window method is used for adjustment of the local map. Findings Simulation experiments were carried out to demonstrate the effectiveness of the proposed algorithm. The experimental results show that the proposed algorithm can construct a global map of the wide environment and effectively bypass the obstacles missed by the UAV. Research limitations/implications Prior to map matching, there is a need to extract the edge of obstacles in the global map. Originality/value This paper proposed a path planning algorithm based on map matching, yielding insights into the application of the UAV/UGV collaboration systems in disaster areas.

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Multisensor Equipped Uav/Ugv for Automated Exploration

Cited by 6 publications

References 1 publication

Crop Height Monitoring Using a Consumer-Grade Camera and UAV Technology

Crop Height Monitoring Using a Consumer-Grade Camera and UAV Technology

SVSF-Based Robust UGV/UAV Control/Tracking Architecture in Disturbed Environment

Path planning based on map matching in UAV/UGV collaboration system

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