Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System
In this paper, a system that uses an algorithm for target detection and navigation and a multirotor Unmanned Aerial Vehicle (UAV) for finding a ground target and inspecting it closely is presented. The system can also be used for accurate and safe delivery of payloads or spot spraying applications i...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2017-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/17/12/2929 |
| _version_ | 1818002084974297088 |
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| author | Ajmal Hinas Jonathan M. Roberts Felipe Gonzalez |
| author_facet | Ajmal Hinas Jonathan M. Roberts Felipe Gonzalez |
| author_sort | Ajmal Hinas |
| collection | DOAJ |
| description | In this paper, a system that uses an algorithm for target detection and navigation and a multirotor Unmanned Aerial Vehicle (UAV) for finding a ground target and inspecting it closely is presented. The system can also be used for accurate and safe delivery of payloads or spot spraying applications in site-specific crop management. A downward-looking camera attached to a multirotor is used to find the target on the ground. The UAV descends to the target and hovers above the target for a few seconds to inspect the target. A high-level decision algorithm based on an OODA (observe, orient, decide, and act) loop was developed as a solution to address the problem. Navigation of the UAV was achieved by continuously sending local position messages to the autopilot via Mavros. The proposed system performed hovering above the target in three different stages: locate, descend, and hover. The system was tested in multiple trials, in simulations and outdoor tests, from heights of 10 m to 40 m. Results show that the system is highly reliable and robust to sensor errors, drift, and external disturbance. |
| first_indexed | 2024-04-14T03:41:24Z |
| format | Article |
| id | doaj.art-5f5e3f491aef4e6db63428efbebab3fc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T03:41:24Z |
| publishDate | 2017-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-5f5e3f491aef4e6db63428efbebab3fc2022-12-22T02:14:30ZengMDPI AGSensors1424-82202017-12-011712292910.3390/s17122929s17122929Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV SystemAjmal Hinas0Jonathan M. Roberts1Felipe Gonzalez2Robotics and autonomous systems, Queensland University of Technology (QUT), Brisbane City QLD 4000, AustraliaRobotics and autonomous systems, Queensland University of Technology (QUT), Brisbane City QLD 4000, AustraliaRobotics and autonomous systems, Queensland University of Technology (QUT), Brisbane City QLD 4000, AustraliaIn this paper, a system that uses an algorithm for target detection and navigation and a multirotor Unmanned Aerial Vehicle (UAV) for finding a ground target and inspecting it closely is presented. The system can also be used for accurate and safe delivery of payloads or spot spraying applications in site-specific crop management. A downward-looking camera attached to a multirotor is used to find the target on the ground. The UAV descends to the target and hovers above the target for a few seconds to inspect the target. A high-level decision algorithm based on an OODA (observe, orient, decide, and act) loop was developed as a solution to address the problem. Navigation of the UAV was achieved by continuously sending local position messages to the autopilot via Mavros. The proposed system performed hovering above the target in three different stages: locate, descend, and hover. The system was tested in multiple trials, in simulations and outdoor tests, from heights of 10 m to 40 m. Results show that the system is highly reliable and robust to sensor errors, drift, and external disturbance.https://www.mdpi.com/1424-8220/17/12/2929unmanned aerial vehiclesvision-based navigationvision and actionOODAremote sensinginspectiontarget detection |
| spellingShingle | Ajmal Hinas Jonathan M. Roberts Felipe Gonzalez Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System Sensors unmanned aerial vehicles vision-based navigation vision and action OODA remote sensing inspection target detection |
| title | Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System |
| title_full | Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System |
| title_fullStr | Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System |
| title_full_unstemmed | Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System |
| title_short | Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System |
| title_sort | vision based target finding and inspection of a ground target using a multirotor uav system |
| topic | unmanned aerial vehicles vision-based navigation vision and action OODA remote sensing inspection target detection |
| url | https://www.mdpi.com/1424-8220/17/12/2929 |
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