Kyristsis Sarantis, Antonopoulos Angelos, Chanialakis Theofilos, Stefanakis Emmanouel, Linardos Christos, Tripolitsiotis Achilles, Partsinevelos Panagiotis
School of Mineral Resources Engineering, Technical University of Crete, Chania 73100, Greece.
School of Electrical and Computer Engineering, Technical University of Crete, Chania 73100, Greece.
Sensors (Basel). 2016 Nov 3;16(11):1844. doi: 10.3390/s16111844.
Nowadays, various unmanned aerial vehicle (UAV) applications become increasingly demanding since they require real-time, autonomous and intelligent functions. Towards this end, in the present study, a fully autonomous UAV scenario is implemented, including the tasks of area scanning, target recognition, geo-location, monitoring, following and finally landing on a high speed moving platform. The underlying methodology includes AprilTag target identification through Graphics Processing Unit (GPU) parallelized processing, image processing and several optimized locations and approach algorithms employing gimbal movement, Global Navigation Satellite System (GNSS) readings and UAV navigation. For the experimentation, a commercial and a custom made quad-copter prototype were used, portraying a high and a low-computational embedded platform alternative. Among the successful targeting and follow procedures, it is shown that the landing approach can be successfully performed even under high platform speeds.
如今，各种无人机（UAV）应用的需求日益增长，因为它们需要实时、自主和智能功能。为此，在本研究中，实现了一个完全自主的无人机场景，包括区域扫描、目标识别、地理位置定位、监测、跟踪以及最终在高速移动平台上降落等任务。其基本方法包括通过图形处理单元（GPU）并行处理进行AprilTag目标识别、图像处理以及几种采用万向节运动、全球导航卫星系统（GNSS）读数和无人机导航的优化定位与进近算法。在实验中，使用了一个商用和一个定制的四旋翼原型，分别代表了高计算能力和低计算能力的嵌入式平台。在成功的目标定位和跟踪过程中，结果表明即使在平台高速移动的情况下，降落进近也能成功执行。
