Abstract
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.
Highlights
IntroductionDevelopment in Unmanned Aerial Vehicle (UAV) path planning [1,2,3], design [4,5,6], and remote sensing [7,8,9,10] has been an active field of research over the past 15 years
The system was tested in multiple trials, in simulations and outdoor tests, from heights of 10 m to 40 m
Development in Unmanned Aerial Vehicle (UAV) path planning [1,2,3], design [4,5,6], and remote sensing [7,8,9,10] has been an active field of research over the past 15 years
Summary
Development in Unmanned Aerial Vehicle (UAV) path planning [1,2,3], design [4,5,6], and remote sensing [7,8,9,10] has been an active field of research over the past 15 years. Several researchers have studied the possibility of using vision for navigation, target tracking, and landing site detection. In [12], a vision-based control system for a quadcopter for following a ground-moving target was demonstrated. In most of the earlier work, the main focus has been on demonstrating the ability of the developed controllers and not on the reliability and robustness of the systems. The system can be used for accurate and safe delivery of payloads or spot spraying applications in site-specific crop management
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