Vision-Based Loitering Over a Target for a Fixed-Wing UAV

Peliti, Pietro; Rosa, Lorenzo; Oriolo, Giuseppe; Vendittelli, Marilena

doi:10.3182/20120905-3-hr-2030.00036

Cited by 17 publications

(11 citation statements)

References 17 publications

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“…This work provided comparison between Skid-to-Turn and Bank-to-Turn manoeuvres control performance for inspection applications. Moreover, in [27] a control method that was able to stabilize an UAV in a circular orbit, centered above a ground target, by using only visual and proprioceptive data through an IBVS approach has been presented. In this case, the fixed wing UAV has been equipped with a gimballed camera.…”

Section: Visual Servoingmentioning

confidence: 99%

Survey on Computer Vision for UAVs: Current Developments and Trends

Kanellakis

Nikolakopoulos

2017

J Intell Robot Syst

295

120

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During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to the design of multiple types of aerial platforms. The major challenge today is the development of autonomously operating aerial agents capable of completing missions independently of human interaction. To this extent, visual sensing techniques have been integrated in the control pipeline of the UAVs in order to enhance their navigation and guidance skills. The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends. These applications are sorted in different categories according to the research topics among various research groups. More specifically vision based position-attitude control, pose estimation and mapping, obstacle detection as well as target tracking are the identified components towards autonomous agents. Aerial platforms could reach greater level of autonomy by integrating all these technologies onboard. Additionally, throughout this article the concept of fusion multiple sensors is highlighted, while an overview on the challenges C. Kanellakis ( ) · G. Nikolakopoulos Luleå University of Technology, Luleå, Sweden e-mail: christoforos.kanellakis@ltu.se G. Nikolakopoulos e-mail: geonik@ltu.se addressed and future trends in autonomous agent development will be also provided.

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Section: Visual Servoingmentioning

confidence: 99%

Survey on Computer Vision for UAVs: Current Developments and Trends

Kanellakis

Nikolakopoulos

2017

J Intell Robot Syst

295

120

View full text Add to dashboard Cite

show abstract

“…According to LaSalle's theorem [14], as (11) which is positive definite. Taking the time derivative leads to…”

Section: Linear Analysis Of the Guidance Lawmentioning

confidence: 99%

“…The linear analysis can be used to facilitate the proper selection of , which is the set 5 ility is demonstrated next. Let a Lyapunov function candidate be  2 sin (11) aking the time derivative leads to (8) and (9) (12) e Lyapunov function is negative semi-definite. According to LaSalle's the system trajectory approaches the largest invariant set inside a set of which is the set (11) which is positive definite.…”

Section: Linear Analysis Of the Guidance Lawmentioning

confidence: 99%

“…Another method that stabilizes an aircraft along a circular trajectory using a single visual landmark on textured flat ground can be found in [10]. The problem of tracking a target using a UAV with a gimbaled camera was considered in [11] using a back-stepping technique while simultaneously bringing the vehicle to orbit on a circular trajectory.…”

Section: Introductionmentioning

confidence: 99%

“…Let a Lyapunov function candidate be   (11) which is positive definite. Taking the time derivative leads to…”

mentioning

confidence: 99%

See 2 more Smart Citations

Vision-based Guidance for Loitering over a Target

Park¹

2016

International Journal of Aeronautical and Space Sciences

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This paper presents a vision-based guidance method that allows a fixed-wing aircraft to orbit around a target at a given radius. The guidance method uses a simple formula that regulates a relative side-bearing angle estimated by a vision system. The global asymptotic stability of the associated guidance law is demonstrated, and a linear analysis is performed to facilitate the proper selection of the relevant control parameters. A flight experiment is presented to demonstrate the feasibility and performance of the proposed guidance method.

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Mountain search and recovery: An unmanned aerial vehicle deployment case study and analysis

Schomer,

Adams

2024

Journal of Field Robotics

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Mountain search and rescue (MSAR) seeks to assist people in extreme remote environments. This method of emergency response often relies on crewed aircraft to perform aerial visual search. Many MSAR teams use low‐cost, consumer‐grade unmanned aerial vehicles (UAVs) to augment the crewed aircraft operations. These UAVs are primarily developed for aerial photography and lack many features critical (e.g., probability‐prioritized coverage path planning) to support MSAR operations. As a result, UAVs are underutilized in MSAR. A case study of a recent mountain search and recovery scenario that did not use, but may have benefited from, UAVs is provided. An overview of the mission is augmented with a subject matter expert‐informed analysis of how the mission may have benefited from current UAV technology. Lastly, mission relevant requirements are presented along with a discussion of how future UAV development can seek to bridge the gap between state‐of‐the‐art robotics and MSAR.

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Vision-Based Loitering Over a Target for a Fixed-Wing UAV

Cited by 17 publications

References 17 publications

Survey on Computer Vision for UAVs: Current Developments and Trends

Survey on Computer Vision for UAVs: Current Developments and Trends

Vision-based Guidance for Loitering over a Target

Mountain search and recovery: An unmanned aerial vehicle deployment case study and analysis

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