Search results for " UAV"
showing 10 items of 32 documents
Study and 3D survey of the Roman baths in the archaeological site of Lylibaeum (Marsala, Italy)
2020
Abstract Archaeological documentation is a fundamental step for research and conservation planning phases. Nowadays traditional recording is always supported by geomatics technologies which offer important support to the growth of archaeological study. The integration of sensors and methodologies seems to give the best results, in terms of time, costs and accuracy of products. In particular, the combination of Terrestrial Laser Scanner (TLS) and Unmanned Aerial Vehicle (UAV) can help the documentation of complex sites and the production of 3D and 2D products for different purposes. The paper focuses on the integration of TLS and UAV methodologies to record the thermal baths of the Roman Dom…
Trajectory Decentralized Fuzzy Control of Multiple UAVs.
2008
This paper considers a complete position and heading rate control system for multiple unmanned aerial vehicles (UAVs) with constant altitude. A decentralized trajectory planning algorithm is proposed, where the UAVs will avoid collisions while moving. In order to stabilize the UAVs in the reference planned trajectories and ensure the boundedness of the control velocities, a fuzzy control law is proposed with Lyapunov's stability proof. Simulation experiments developed in Matlab environment confirm the effectiveness and the robustness of the proposed control algorithm with respect to possible turbulence disturbances perturbing the nominal motion of the UAVs.
Erle-copter Simulation using ROS and Gazebo
2020
The recent decrease in the price as well as size of semi-conductor logic and due to significant advancements in technologies such as microcontrollers, motors and sensors, the application of quadcopters in several fields has been achieved. However, testing of quadcopter prototypes still has a risk of damage due to faults and unexpected behavior. Hence, a method of testing of quadcopters in simulation mimicking the actual conditions of the real environment in an actual hardware test has been proposed. For this purpose, Gazebo simulator integrated with ROS has been chosen for the simulation of the path of the quadcopter. Moreover, the software Matlab/Simulink has been interfaced with Gazebo in…
Assessment of Classifiers and Remote Sensing Features of Hyperspectral Imagery and Stereo-Photogrammetric Point Clouds for Recognition of Tree Specie…
2018
Recognition of tree species and geospatial information on tree species composition is essential for forest management. In this study, tree species recognition was examined using hyperspectral imagery from visible to near-infrared (VNIR) and short-wave infrared (SWIR) camera sensors in combination with a 3D photogrammetric canopy surface model based on RGB camera stereo-imagery. An arboretum with a diverse selection of 26 tree species from 14 genera was used as a test area. Aerial hyperspectral imagery and high spatial resolution photogrammetric color imagery were acquired from the test area using unmanned aerial vehicle (UAV) borne sensors. Hyperspectral imagery was processed to calibrated …
Unmanned aerial vehicle technology to assess the state of threatened biogenic formations: The vermetid reefs of mediterranean intertidal rocky coasts
2021
Abstract Vermetid bioconstructions are biogenic formations, built by sessile gastropod molluscs belonging to the family Vermetidae worldwide distributed, occurring in the intertidal and upper subtidal in the rocky shores. In the Mediterranean basin, they occur in complex and tridimensional structures that enhance the local biodiversity, allowing to qualify the structuring species as ecosystem engineers. Due to their ecological relevance and considerable extension along the coasts, we assessed their structural complexity using unmanned aerial vehicle (UAV) technology, as tool of littoral cartography analysis of these bioconstructions, and plaster hemispheres dissolution as a descriptor index…
COMPARISON BETWEEN VEHICLE SPEED PROFILES ACQUIRED BY DIFFERENTIAL GPS AND UAV
2014
Traffic microscopic simulation models are able to represent traffic conditions and their evolution over time. They take into account the geometrical aspects of transport infrastructures, driver behavior and, step by step, the vehicles’ movements on the road network. The most widespread applications of these models are referred to accident management, route guidance problems (possibility of evaluating control strategies in real time), adaptive control of traffic-light and ramp metering (management and control of the ramps and flow). To accomplish this goal observational data of vehicles’ kinematic characteristics have to be acquired. These elements are not always easily available. In scienti…
A Non Conventional UAV In Ground Effect: Synthesis of a Robust Flight Control System,
2008
ABSTRACT This paper discusses the synthesis of an Extended Kalman Filter (EKF) to perform both wind velocities and state estimation for a non conventional UAV flying in ground effect. Since, in IGE flight, motions into the symmetry plane are of primary concern, the study focuses on the longitudinal aircraft dynamics. The proposed estimator requires measurement of few flight variables, easily obtainable by means of conventional sensors; besides, it does not use Inertial Measurement Unit (IMU). To simulate a low cost sensing equipment, the model outputs are corrupted by white noise of relatively high standard deviation. Furthermore, to cope with the low rate of the GPS with respect to the oth…
Trajectory tracking for a Non-Conventional UAV
2008
The aim of the present paper is the design of a flight control system for a Tandem – Canard UAV, useful in the whole flight envelope, both Out of Ground Effect (OGE) and In Ground Effect (IGE) conditions. Because of the particular arrangement of the studied aircraft, a general mathematical model has been built in order to obtain non-linear analytical equations for longitudinal aerodynamic coefficients both in OGE and in IGE flight. So the dynamic behaviour of the UAV may be studied during every flight phases i.e. in the whole range of altitude. To consider the strong variation of aerodynamic parameters due to the ground effect presence, a robust control technique (LQG/LTR) has been used to …
A NON CONVENTIONAL UAV IN GROUND EFFECT: ESTIMATION OF STATE AND TURBULENCE VIA EXTENDED KALMAN FILTER
2009
ABSTRACT This paper discusses the synthesis of an Extended Kalman Filter (EKF) to perform both wind velocities and state estimation for a non conventional UAV flying in ground effect. Since, in IGE flight, motions into the symmetry plane are of primary concern, the study focuses on the longitudinal aircraft dynamics. The proposed estimator requires measurement of few flight variables, easily obtainable by means of conventional sensors; besides, it does not use Inertial Measurement Unit (IMU). To simulate a low cost sensing equipment, the model outputs are corrupted by white noise of relatively high standard deviation. Furthermore, to cope with the low rate of the GPS with respect to the oth…
Estimation of turbulence and state based on EKF for a tandem Canard UAV
2008
This paper deals with the state and turbulence estimation of a model describing the longitudinal dynamics of an Unmanned Aerial Vehicle (UAV). Due to both the high nonlinearities of the model and the stochastic nature of disturbances, an Extended Kalman Filter (EKF) is proposed. To allow the estimator to be employed on low cost UAV systems, it is assumed that the aircraft is equipped with a low performance GPS, characterized by a relatively low refresh rate. The designed EKF is able to work efficiently in both turbulent and calm atmosphere. In order to obtain information about the performances of the proposed estimator for control purposes, a control system, consisting of the EKF, a PID-typ…