AI News, Successful field experiments with autonomos drones
- On Wednesday, June 6, 2018
- By Read More
Successful field experiments with autonomos drones
An autonomous drone can perceive with great detail the surrounding environment and acquire much more reliable results from analyzes and scans,' says George Nikolakopoulos.
'An autonomous aerial robot is programmed to analyze its surroundings and perform different tasks either towards inspection or interaction with the environment.
The advances in computational power that can allow more complicated control algorithms to run on board the drones and hence perceive and process the surrounding environment much faster, is one reason to why this research leap is happening right now.
'The main reason why we succeed is the use of the localization system that our group has developed based on fusion of Ultra Wide Band nodes and other onboard sensors.
- On Wednesday, June 20, 2018
- By Read More
Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision
The UAV is located on a given start point (unknown state) in the experimental indoor environment, at a given distance near with respect to a specified landmark in the topological map.
Through the entropy-based controller, it is executed a process of image entropy maximization (Search Mode) aimed at converging to a state of high entropy, hopefully containing landmarks from the visual topological map.
The signals ufb have been calculated by the feedback controller (reactive behavior) from the different images that are captured by the UAV's onboard camera, as well as the signals uff provided by the feedforward controller (anticipatory behavior).
Finally, the UAV reaches the target point or L1 landmark goal defined at the k = 19 iteration, and executes the specified maneuver of this arc: go forward to the goal, showing the exit door to an emergency situation.
The entropy-based controller generates the values of the control signals through image entropy maximization (entropic vision), performing a maneuver for guide the robot to the higher entropy state in each iteration.
When the left zone of image has the higher entropy (HL) the robot performs a turn to the left (yaw = [–1.0]), else if the right zone of image has the higher entropy (HR) the robot performs a turn to the right (yaw = [0.1]) in this case.
Experimentally, for the calculation of the combined signal ut, it has been established the following weight values: wfb = 0.7 and wff = 0.3, for the feedback and feedforward controllers respectively (Maravall et al., 2015b).
From the experimental results obtained in our laboratory it is concluded that the UAV is able to successfully perform in real time the fundamental skills of the visual bug algorithm, guiding the robot toward a goal landmark (in this case exit door) using self-semantic location in each landmark defined in the visual topological map.
- On Wednesday, March 20, 2019
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