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here is the presentation for the AUTONOMOUS TARGET FOLLOWING BY UAV....uav means UNMANED AERIAL VEHICLE

here is the presentation for the AUTONOMOUS TARGET FOLLOWING BY UAV....uav means UNMANED AERIAL VEHICLE

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targetting system targetting system Presentation Transcript

  • 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 decoy Reconnaissance Combat Research and development Civil and Commercial UAVs Logistics
  •  Sensor fusion  Communications  Path planning  Trajectory Generation/Motion planning  Trajectory Regulation  Task Allocation and Scheduling  Cooperative Tactics
  • Path planning Cameras, Horizon air framework, Image processing technique, object recognition algorithm Sensing Vision based system with downward looking camera Filtering Kalman filter
  • Idle  Explore  Vision-based tracking  GPS-based tracking  Align  Safe state
  • Input image Filtering Car detection Matching
  • Taking off Following 1. Target initialization 2. On-time tracking 3. Error handling Landing
  • 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 board Can enter environments that are dangerous to human life Reduces the exposure risk of the aircraft operator Can stay in the air for up to 30 hrs Can be programmed to complete the mission autonomously even when contact with it’s GCS is lost Safer environment Even if plane crash, pilot still safe. UAVs can go faster
  • Very expensive to produce and keep up Human mistake in remote controls can cause plane to crash Computer 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.pd f  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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