Timely autonomous identification of UAV safe landing zones
Timely autonomous identification of UAV safe landing zones
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DOI：
10.1016/j.imavis.2014.06.006
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发表时间：
2014-09-01
影响因子：
4.7
通讯作者：
Luo, Chunbo
中科院分区：
文献类型：
--
作者：
Patterson, Timothy;McClean, Sally;Luo, Chunbo
对于许多应用，如自然灾害后的环境监测和山区搜救，成群的自主无人机（UAV）有可能提供一个高度通用且通常相对便宜的传感平台。它们作为“天空之眼”的能力，处理和传递实时彩色图像和其他传感器读数，有助于将人类从可能被认为是沉闷，危险或肮脏的环境中移除。然而，与有人驾驶飞机一样，它们可能会遇到错误，其中最严重的错误可能需要无人机尽可能快速和安全地着陆。因此，在本文中，我们提出了新的工作自主识别安全着陆区（SLZ），可用于发生安全关键事件。检测安全着陆区，并随后单独使用多通道航空图像或在可行时通过将地形测量（OS）地图数据形式的知识与此类图像融合来分配安全分数。鉴于问题的实时性，我们随后模拟两个SLZ检测选项，其中一个利用知识，使无人机选择一个最佳的，可行的解决方案。结果提出的基础上，在载人飞行过程中捕获的彩色航空图像展示实际的潜力，在所讨论的方法。(C)2014爱思唯尔有限公司版权所有。
For many applications such as environmental monitoring in the aftermath of a natural disaster and mountain search-and-rescue, swarms of autonomous Unmanned Aerial Vehicles (UAVs) have the potential to provide a highly versatile and often relatively inexpensive sensing platform. Their ability to operate as an 'eye-in-the-sky', processing and relaying real-time colour imagery and other sensor readings facilitate the removal of humans from situations which may be considered dull, dangerous or dirty. However, as with manned aircraft they are likely to encounter errors, the most serious of which may require the UAV to land as quickly and safely as possible. Within this paper we therefore present novel work on autonomously identifying Safe Landing Zones (SLZs) which can be utilised upon occurrence of a safety critical event. Safe Landing Zones are detected and subsequently assigned a safety score either solely using multichannel aerial imagery or, whenever practicable by fusing knowledge in the form of Ordnance Survey (OS) map data with such imagery. Given the real-time nature of the problem we subsequently model two SLZ detection options one of which utilises knowledge enabling the UAV to choose an optimal, viable solution. Results are presented based on colour aerial imagery captured during manned flight demonstrating practical potential in the methods discussed. (C) 2014 Elsevier B.V. All rights reserved.