Vision-based target pursuit by autonomous UAVs

自主无人机基于视觉的目标追踪

• 批准号: RGPIN-2016-05489
• 负责人: Barczyk, Martin
• 金额: $ 1.68万
• 依托单位: University of Alberta
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=709759
• 关键词: Vision; based; target; pursuit; autonomous

The proposed research program employs a flying quadcopter Unmanned Aerial Vehicle (UAV), widely used for application such as aerial photography and remote surveillance, and develops the novel capability of employing on-board vision sensors to autonomously detect and follow or intercept a second flying quadcopter UAV. Example applications of this technology include protecting sensitive areas such as government buildings or military installations from a weaponized UAV attack, or guarding private events from unauthorized aerial photography and videography by the media. The research work involves a mix of advanced theory in aided inertial navigation, feedback control and computer vision and practical issues in coding, sensor calibration, parameter tuning and experimental flight testing. This makes it an excellent platform for training the next generation of highly skilled engineers, who are critical for the success of Canada's high-tech sector and increasingly important robotics industry. The algorithms and knowledge developed for this project will be extended and applied to two more complex applications relevant for Canadians. The first extension is autonomously detecting and chasing away birds from pre-designated areas. This technology would be of great interest to airport authorities to prevent dangerous engine bird strikes, oil sands companies to keep birds from landing on tailings ponds, and farmers protecting their crop fields. The second extension is chasing cars for the police. High-speed vehicle chases are known to be extremely dangerous for the drivers, other cars and pedestrians. Because a quadcopter is capable of both low and high-speed flight and nimble maneuvering, it would be able to easily and safely follow a fleeing vehicle while reporting its position to law enforcement.

拟议的研究计划采用了飞行四轴无人机（UAV），广泛用于航空摄影和远程监视等应用，并开发了采用机载视觉传感器自主检测和跟踪或拦截第二架飞行四轴无人机的新能力。该技术的示例应用包括保护敏感区域，如政府建筑或军事设施免受武器化无人机攻击，或保护私人活动免受未经授权的空中摄影和媒体摄像。研究工作涉及辅助惯性导航、反馈控制和计算机视觉方面的先进理论，以及编码、传感器校准、参数调整和实验飞行测试方面的实际问题。这使其成为培养下一代高技能工程师的绝佳平台，这些工程师对加拿大高科技行业和日益重要的机器人行业的成功至关重要。为该项目开发的算法和知识将扩展并应用于与加拿大人相关的两个更复杂的应用程序。第一个扩展是自动检测和驱赶预先指定区域的鸟类。这项技术将对机场当局防止危险的发动机鸟撞、油砂公司防止鸟落在尾矿池上以及农民保护他们的农田产生极大的兴趣。第二个延伸是为警察追汽车。众所周知，高速车辆追逐对驾驶员、其他汽车和行人来说是极其危险的。由于四轴飞行器能够进行低速和高速飞行以及灵活的机动，因此它能够轻松安全地跟踪正在逃离的车辆，同时向执法部门报告其位置。