Visual line tracking with vector field guidance for UAV

In this study, it is aimed to follow a visual route by an Unmanned Aerial Vehicle (UAV). The recognition of the predetermined line by using image processing algorithms and the process of following the route by using the method of Tangent Vector Field Guidance (TVFG) have been performed in indoor and outdoor experiments. UAV's following the correct route has been ensured by calculating the deflection caused by some factors such as wind and light which adversely affect the flight of UAV. In Vector Field Guidance method, the direction angles calculated by using the vector fields that will follow the line-shaped guide path are used. When the path to be followed has more than one direction instead of a single straight line, it is divided into sections which consist of straight lines, and by prioritizing these lines, the most dominant line is followed. In this study, it is aimed to provide a dynamic model by considering the tracking errors. As a result of the process adopted, UAV's autonomous flight is achieved by using the visual inputs and TVFG method, and the external disturbing factors are investigated.

Dergi Adı 2014 22ND SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU)
Sayfalar 646 - 649
Yayın Yılı 2014
Eser Adı
[dc.title]
Visual line tracking with vector field guidance for UAV
Yazar
[dc.contributor.author]
Köksal, Kerem
Yazar
[dc.contributor.author]
Surucu, Dilek
Yazar
[dc.contributor.author]
Surucu, Murat
Yazar
[dc.contributor.author]
Hacıoğlu, Rıfat
Yayın Yılı
[dc.date.issued]
2014
Yayıncı
[dc.publisher]
IEEE
Yayın Türü
[dc.type]
proceedings
Açıklama
[dc.description]
22nd IEEE Signal Processing and Communications Applications Conference (SIU) -- APR 23-25, 2014 -- Karadeniz Teknik Univ, Trabzon, TURKEY
Açıklama
[dc.description]
WOS: 000356351400141
Özet
[dc.description.abstract]
In this study, it is aimed to follow a visual route by an Unmanned Aerial Vehicle (UAV). The recognition of the predetermined line by using image processing algorithms and the process of following the route by using the method of Tangent Vector Field Guidance (TVFG) have been performed in indoor and outdoor experiments. UAV's following the correct route has been ensured by calculating the deflection caused by some factors such as wind and light which adversely affect the flight of UAV. In Vector Field Guidance method, the direction angles calculated by using the vector fields that will follow the line-shaped guide path are used. When the path to be followed has more than one direction instead of a single straight line, it is divided into sections which consist of straight lines, and by prioritizing these lines, the most dominant line is followed. In this study, it is aimed to provide a dynamic model by considering the tracking errors. As a result of the process adopted, UAV's autonomous flight is achieved by using the visual inputs and TVFG method, and the external disturbing factors are investigated.
Kayıt Giriş Tarihi
[dc.date.accessioned]
2019-12-23
Açık Erişim Tarihi
[dc.date.available]
2019-12-23
Yayın Dili
[dc.language.iso]
tur
Künye
[dc.identifier.citation]
Koksal, K., Surucu, D., Surucu, M. ve Hacıoğlu, R. (2014). Visual line tracking with vector field guidance for UAV. 2014 22nd Signal Processing and Communications Applications Conference (SIU) içinde (ss. 646-649). 2014 22nd Signal Processing and Communications Applications Conference (SIU), sunulmuş bildiri. doi:10.1109/SIU.2014.6830312
Haklar
[dc.rights]
info:eu-repo/semantics/closedAccess
ISSN
[dc.identifier.issn]
2165-0608
Sponsor YAYINCI
[dc.description.sponsorship]
IEEE, Karadeniz Tech Univ, Dept Comp Engn & Elect & Elect Engn
İlk Sayfa Sayısı
[dc.identifier.startpage]
646
Son Sayfa Sayısı
[dc.identifier.endpage]
649
Dergi Adı
[dc.relation.journal]
2014 22ND SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU)
Tek Biçim Adres
[dc.identifier.uri]
https://hdl.handle.net/20.500.12628/3778
Tek Biçim Adres
[dc.identifier.uri]
DOI: 10.1109/SIU.2014.6830312
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246
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09.12.2022 tarihinden bu yana
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15 Temmuz 2024 09:20
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method factors flight straight direction followed Guidance Vector following process follow visual disturbing tracking errors result instead single investigated external adopted divided sections considering inputs prioritizing achieved autonomous dominant provide dynamic consist performed (TVFG) Tangent
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