Abstract.

This paper presents methods and algorithms for vision marker-based automatic control of small aerial vehicles group in GPS/GLONASS-denied environment. We explain the purposed methods for marker recognition, vision-based unmanned aerial vehicle’s localization and their movement coordination. We introduce the preproduction model of our navigation system based on open-source projects.

Keywords:

unmanned aerial vehicles, vision-based navigation, control system.

pp. 68-77

References

1. Adams S. M., Friedland C. J. A survey of unmanned aerial vehicle (UAV) usage for imagery collection in disaster research and management // 9th International Workshop on Remote Sensing for Disaster Response. – 2011. – С. 8.
2. Nebiker S. et al. A light-weight multispectral sensor for micro UAV—Opportunities for very high resolution airborne remote sensing // The international archives of the photogrammetry, remote sensing and spatial information sciences. – 2008. – Т. 37. – №. B1. – С. 1193-1199.
3. Nex F., Remondino F. UAV for 3D mapping applications: a review // Applied Geomatics. – 2014. – Т. 6. – №. 1. – С. 1-15.
4. Ruffier F. et al. Bio-inspired optical flow circuits for the visual guidance of micro air vehicles // Circuits and Systems, 2003. ISCAS'03. Proceedings of the 2003 International Symposium on. – IEEE, 2003. – Т. 3. – С. III-III.
5. Макаров Д.А., Панов А.И., Яковлев К.С. Архитектура многоуровневой интеллектуальной системы управления беспилотными летательными аппаратами // Искусственный интеллект и принятие решений, 3, 2015. C.18-32.
6. Архипкин А.В., Комченков В.И., Корольков Д.Н., Петров В.Ф., Симонов С.Б., Терентьев А.И. Задачи группового управления роботами в робототехническом комплексе пожаротушения // Труды СПИИРАН. 2016. Вып. 45. C. 116-129.
7. Ронжин Андрей Леонидович, Юсупов Рафаэль Мидхатович Многомодальные интерфейсы автономных мобильных робототехнических комплексов // Известия ЮФУ. Технические науки. 2015. №1 (162). С.195-206
8. Finn R. L., Wright D. Unmanned aircraft systems: Surveillance, ethics and privacy in civil applications //Computer Law & Security Review. – 2012. – Т. 28. – №. 2. – С. 184-194.
9. Grenzdörffer G. J., Engel A., Teichert B. The photogrammetric potential of low-cost UAVs in forestry and agriculture // The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. – 2008. – Т. 31. – №. B3. – С. 1207-1214.
10. Jordan B. R. A bird’s-eye view of geology: The use of micro drones/UAVs in geologic fieldwork and education // GSA Today. – 2015. – Т. 25. – №. 7. – С. 50-52.
11. Metge J. et al. Dynamic magnetic field compensation for micro UAV attitude estimation // Unmanned Aircraft Systems (ICUAS), 2013 International Conference on. – IEEE, 2013. – С. 725-733.
12. Яковлев К.С., Петров А.В., Хитьков В.В. Программный комплекс навигации и управления беспилотными транспортными средствами // Информационные технологии и вычислительные системы, 3, 2013. С. 72-83.
13. Яковлев К. С. и др. Система навигации группы БЛА на основе маркеров // Робототехника и техническая кибернетика. – 2014. – №. 4. – С. 44-48.
14. Sebesta K. D., Boizot N. A real-time adaptive high-gain EKF, applied to a quadcopter inertial navigation system // IEEE Transactions on Industrial Electronics. – 2014. – Т. 61. – №. 1. – С. 495-503.
15. Wang F. et al. An efficient uav navigation solution for confined but partially known indoor environments // Control & Automation (ICCA), 11th IEEE International Conference on. – IEEE, 2014. – С. 1351-1356.
16. Wang F. et al. A mono-camera and scanning laser range finder based UAV indoor navigation system // Unmanned Aircraft Systems (ICUAS), 2013 International Conference on. – IEEE, 2013. – С. 694-701.
17. Siebert S., Teizer J. Mobile 3D mapping for surveying earthwork projects using an Unmanned Aerial Vehicle (UAV) system // Automation in Construction. – 2014. – Т. 41. – С. 1-14.
18. Scaramuzza D. et al. Vision-controlled micro flying robots: from system design to autonomous navigation and mapping in GPS-denied environments //IEEE Robotics & Automation Magazine. – 2014. – Т. 21. – №. 3. – С. 26-40.
19. Achtelik M. et al. Sfly: Swarm of micro flying robots // Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. – IEEE, 2012. – С. 2649-2650.
20. Saska M. et al. Swarm distribution and deployment for cooperative surveillance by micro-aerial vehicles //Journal of Intelligent & Robotic Systems. – 2016. – Т. 84. – №. 1-4. – С. 469-492.
21. Shi Y., Eberhart R. C. Empirical study of particle swarm optimization //Evolutionary Computation, 1999. CEC 99. Proceedings of the 1999 Congress on. – IEEE, 1999. – Т. 3. – С. 1945-1950.
22. Sanchez-Lopez J. L. et al. A reliable open-source system architecture for the fast designing and prototyping of autonomous multi-uav systems: Simulation and experimentation // Journal of Intelligent & Robotic Systems. – 2016. – Т. 84. – №. 1-4. – С. 779-797.
23. Quigley M. et al. ROS: an open-source Robot Operating System // ICRA workshop on open source software. – 2009. – Т. 3. – №. 3.2. – С. 5.
24. Kam H. R. et al. RViz: a toolkit for real domain data visualization // Telecommunication Systems. – 2015. – Т. 60. – №. 2. – С. 337-345.
25. Garrido-Jurado S. et al. Automatic generation and detection of highly reliable fiducial markers under occlusion //Pattern Recognition. – 2014. – Т. 47. – №. 6. – С. 2280-2292.
26. Deng G., Cahill L. W. An adaptive Gaussian filter for noise reduction and edge detection // Nuclear Science Symposium and Medical Imaging Conference, 1993., 1993 IEEE Conference Record. – IEEE, 1993. – С. 1615-1619.
27. Hast A., Nysjö J., Marchetti A. Optimal ransac-towards a repeatable algorithm for finding the optimal set. – 2013.
28. Quan L., Lan Z. Linear n-point camera pose determination //IEEE Transactions on pattern analysis and machine intelligence. – 1999. – Т. 21. – №. 8. – С. 774-780.
29. Забегаев А. Н., Павловский В. Е. Адаптация фильтра Калмана для использования с локальной и глобальной системой навигации //Препринты Института прикладной математики им. МВ Келдыша РАН. – 2010. – №. 0. – С. 82-24.
30. Трушков В.В., Хачумов В.М. Определение ориентации объектов в трехмерном пространстве − Автометрия, № 3, 2008, с. с.75-79.