用于无人机的低成本计算机视觉嵌入式系统

IF 2.9 Q2 ROBOTICS Robotics Pub Date : 2023-10-27 DOI:10.3390/robotics12060145
Luis D. Ortega, Erick S. Loyaga, Patricio J. Cruz, Henry P. Lema, Jackeline Abad, Esteban A. Valencia
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引用次数: 1

摘要

无人驾驶飞行器(uav)是多功能的,可以适应研究的硬件和软件。它们对于远程监测至关重要,特别是在具有挑战性的环境中,例如在访问受限的火山观测中。作为回应,经济的计算机视觉系统通过处理数据、提高无人机的自主性和协助机动提供了补救措施。通过这些技术的应用,研究人员可以有效地监测偏远地区,从而提高监测能力。此外,飞行控制器使用机载工具收集数据,进一步增强无人机在监视任务中的导航能力。为了提高能源效率和全面覆盖范围,本文介绍了一种预算友好型原型机,以帮助无人机导航,最大限度地减少对续航力的影响。原型机通过集成着陆和避障系统(LOAS)优先改进机动性能。采用开源软件和MAVLink通信,这些系统在配备pixhawk的四轴飞行器上进行了测试。在树莓派机载计算机上编程,原型包括一个距离传感器和基本摄像头,以满足低计算和重量要求。测试在受控环境中进行,系统在90%的情况下表现良好。Pixhawk和Raspberry Pi记录了四轴飞行器在规避和着陆时的动作。实验结果证明了原型机在改进无人机导航方面的有效性。整合这种具有成本效益、节能的模式,有望实现长期任务增强,降低成本,扩大地形覆盖范围,提高监视能力。
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Low-Cost Computer-Vision-Based Embedded Systems for UAVs
Unmanned Aerial Vehicles (UAVs) are versatile, adapting hardware and software for research. They are vital for remote monitoring, especially in challenging settings such as volcano observation with limited access. In response, economical computer vision systems provide a remedy by processing data, boosting UAV autonomy, and assisting in maneuvering. Through the application of these technologies, researchers can effectively monitor remote areas, thus improving surveillance capabilities. Moreover, flight controllers employ onboard tools to gather data, further enhancing UAV navigation during surveillance tasks. For energy efficiency and comprehensive coverage, this paper introduces a budget-friendly prototype aiding UAV navigation, minimizing effects on endurance. The prototype prioritizes improved maneuvering via the integrated landing and obstacle avoidance system (LOAS). Employing open-source software and MAVLink communication, these systems underwent testing on a Pixhawk-equipped quadcopter. Programmed on a Raspberry Pi onboard computer, the prototype includes a distance sensor and basic camera to meet low computational and weight demands.Tests occurred in controlled environments, with systems performing well in 90% of cases. The Pixhawk and Raspberry Pi documented quad actions during evasive and landing maneuvers. Results prove the prototype’s efficacy in refining UAV navigation. Integrating this cost-effective, energy-efficient model holds promise for long-term mission enhancement—cutting costs, expanding terrain coverage, and boosting surveillance capabilities.
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来源期刊
Robotics
Robotics Mathematics-Control and Optimization
CiteScore
6.70
自引率
8.10%
发文量
114
审稿时长
11 weeks
期刊介绍: Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM
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