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Intruder detection is a crucial problem in vision based Sense and Avoid (SAA) system. In this paper a deep feature learning based intruder detection algorithm is proposed. The intruder detection algorithm contains four parts: obtaining the test samples, creating the overcomplete dictionary, deep feature learning and determining the region of the intruder. The sliding window technique is adopted to...
In fault tolerant control, the damaged and healthy states of a sensor output or a control input are captured by using an uncertain parameter. For instance, the control input u(t) resulting from an actuator is modeled au(t) and the healthy and damaged conditions are inferred from a which takes the values σ=1 and σ in [0, 1), respectively [1-3]. Given a stabilizing controller, a range of σ-values in...
The paper presents a tube based Model Predictive Control (MPC) strategy for robust tracking control of PVTOL aircraft. PVTOL system is considered as a benchmark for investigating dynamics and control related issues for unmanned aerial vehicles (UAVs). Due to non-linear dynamics and under actuated nature of this system, the task of building control algorithm for such systems becomes challenging. Here,...
This paper describes a control approach for transitioning VTOL UAVs controlled by differential thrust, allowing to fly in all flight phases spanning a continuous transition between hover and cruise flight. A quaternion based attitude controller makes use of an additional reference frame that is rotated by the transition angle with respect to the body-fixed frame. This approach allows intuitive control...
In this paper a fractional-order (or alternatively known as a non-integer) FOPID type controller (that gives better performance than classical, integer-order PID type) was proposed for tracking of the rotational speed reference signal of propeller in electric propulsion system used in multirotor flying robots and platforms. For propulsion system (electronic speed controller, brushless direct current...
Unmanned Aircraft Systems (UAS) are being used commonly for video surveillance, providing valuable video data and reducing the risks associated with human operators. Thanks to its benefits, the UAS traffic is nearly doubling every year. However, the risks associated with the UAS are also growing. According to the FAA, the volume of air traffic will grow steadily, doubling in the next 20 years. Paired...
Multirotor aerial vehicles are extensively employed in applications requiring a stationary surveillance platform to monitor a situation on the ground for a specific duration. In most cases, these systems are small in size and weigh < 10Kgs. This paper presents a design methodology employed to develop a multirotor system exceeding the conventional size and weight category. The study includes modelling...
Small Unmanned Aircraft Systems (SUASs) are increasingly being utilized for remote sensing applications due to their low-cost availability and potential for the collection of high-resolution on-demand aerial imagery. However, the field is still maturing, and there remains many questions on the accuracy and the validity of the data collected. While many researchers have investigated means of improving...
This paper proposes a method of finding the optimal position of unmanned aerial vehicles (UAVs) functioning as a communication relay node to improve the network connectivity and communication performance of a team of ground nodes/vehicles. A three-dimensional complex urban environment containing many buildings is considered where the line-of-sight between ground nodes is often blocked. The particle...
To aid an automatic taxiing system for unmanned aircraft, this paper presents a colour based method for semantic segmentation and image classification in an aerodrome environment with the intention to use the classification output to aid navigation and collision avoidance. Based on previous work, this machine vision system uses semantic segmentation to interpret the scene. Following an initial superpixel...
Two missile guidance laws viz. Pursuit Guidance (PG) and Trajectory Shaping (TS), have been adopted to aggressively follow curved, compact trajectories using a quadrotor. The concept of virtual target navigation has been utilized to generate the required curved trajectories. Simulations and flight tests have been performed using a quadrotor and the performance characteristics obtained have been compared...
An optimization problem based on discrete-integer and continuous variables in order to design a multirotor for a specific application (maximum thrust-to-weight and maximum flight time) is developed. We considered the length and the diameter of the rods as continuous variables and the selection of the motors, propellers, and battery as discrete-integer variables, the components selected are available...
Speed, agility, maneuverability, range and efficiency of birds and insects are far beyond the conventional flying mini vehicles. There are various research works to create vehicles that imitate these amazing creatures. In this paper, a wing mechanism is designed for a micro aerial vehicle using four flapping wings. In this system, a four-bar mechanism is preferred as the wing mechanism. In order to...
An extended Kalman filter (EKF) is developed on the special Euclidean group, SE(3) for geometric control of a quadrotor UAV. It is obtained by performing an extensive linearization on SE(3) to estimate the state of the quadrotor from noisy measurements. Proposed estimator considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion...
Unmanned aerial vehicles (UAVs) are widely applied in both civil and military fields, such as rescue, surveillance, exploration, navigation, precision agriculture and etc., because of small size, low cost and easy maintenance. However the autonomous flight of UAVs under unstructured environment is still open, especially when GPS is unavailable or indoor task is scheduled. Furthermore, GPS-based navigation...
This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior...
The increasing civilian demand for autonomous aerial vehicle in the professional markets led to an abundance of inexpensive navigational hardware platforms and vehicle prototypes. Current photogrammetry-based applications require crisp and precise positioning of images so that the process does not fails. Also systems adaptable to the circumstances for better effectiveness, vehicles capable of vertical...
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