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Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection.

Máthé K, Buşoniu L - Sensors (Basel) (2015)

Bottom Line: Unmanned aerial vehicles (UAVs) have gained significant attention in recent years.We discuss applications, restricting our focus to the field of infrastructure inspection.To select vision methods, we run a thorough set of experimental evaluations.

View Article: PubMed Central - PubMed

Affiliation: Automation Department, Technical University of Cluj-Napoca, Memorandumului Street no. 28, 400114 Cluj-Napoca, Romania. koppany.mathe@aut.utcluj.ro.

ABSTRACT
Unmanned aerial vehicles (UAVs) have gained significant attention in recent years. Low-cost platforms using inexpensive sensor payloads have been shown to provide satisfactory flight and navigation capabilities. In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful. We also highlight the sensor suites used where this information is available. We overview, among others, feature detection and tracking, optical flow and visual servoing, low-level stabilization and high-level planning methods. We then list popular low-cost UAVs, selecting mainly quadrotors. We discuss applications, restricting our focus to the field of infrastructure inspection. Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate ones to tackle these use-cases. To select vision methods, we run a thorough set of experimental evaluations.

No MeSH data available.


Nested low-level control loop: attitude and position control.
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f2-sensors-15-14887: Nested low-level control loop: attitude and position control.

Mentions: The main low-level control tasks are: achieving flight, stabilizing the UAV and following a flight path. These tasks are addressed by attitude and position control, which, in the case of quadrotors, are commonly coupled as a nested control loop, shown in Figure 2. Attitude control is then responsible for flight stabilization and tracking the desired heading, while position control serves for trajectory following.


Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection.

Máthé K, Buşoniu L - Sensors (Basel) (2015)

Nested low-level control loop: attitude and position control.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541813&req=5

f2-sensors-15-14887: Nested low-level control loop: attitude and position control.
Mentions: The main low-level control tasks are: achieving flight, stabilizing the UAV and following a flight path. These tasks are addressed by attitude and position control, which, in the case of quadrotors, are commonly coupled as a nested control loop, shown in Figure 2. Attitude control is then responsible for flight stabilization and tracking the desired heading, while position control serves for trajectory following.

Bottom Line: Unmanned aerial vehicles (UAVs) have gained significant attention in recent years.We discuss applications, restricting our focus to the field of infrastructure inspection.To select vision methods, we run a thorough set of experimental evaluations.

View Article: PubMed Central - PubMed

Affiliation: Automation Department, Technical University of Cluj-Napoca, Memorandumului Street no. 28, 400114 Cluj-Napoca, Romania. koppany.mathe@aut.utcluj.ro.

ABSTRACT
Unmanned aerial vehicles (UAVs) have gained significant attention in recent years. Low-cost platforms using inexpensive sensor payloads have been shown to provide satisfactory flight and navigation capabilities. In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful. We also highlight the sensor suites used where this information is available. We overview, among others, feature detection and tracking, optical flow and visual servoing, low-level stabilization and high-level planning methods. We then list popular low-cost UAVs, selecting mainly quadrotors. We discuss applications, restricting our focus to the field of infrastructure inspection. Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate ones to tackle these use-cases. To select vision methods, we run a thorough set of experimental evaluations.

No MeSH data available.