UAV based target finding and tracking in GPS-denied and cluttered environments

F. Vanegas, D. Campbell, M. Eich, Felipe Gonzalez
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引用次数: 16

Abstract

In this paper we describe and flight test a novel system architecture for low cost muti-rotor unmanned aerial vehicles (UAVs) for searching, tracking and following a ground target. The UAV uses only on-board sensors for localisation within a GPS-denied space with obstacles. This mission is formulated as a Partially Observable Markov Decision Process (POMDP) and uses a modular framework that runs on the Robotic Operating System (ROS). This system computes a policy for executing actions instead of way-points to navigate and avoid obstacles. Results indicate that the system is robust to overcome uncertainties in localisation of both, the aircraft and the target and avoids collisions with the obstacles.
在gps拒绝和混乱环境中基于无人机的目标发现和跟踪
本文描述并试飞了一种用于低成本多旋翼无人机搜索、跟踪和跟踪地面目标的新型系统架构。UAV仅使用机载传感器在有障碍物的没有gps的空间内进行定位。该任务被制定为部分可观察马尔可夫决策过程(POMDP),并使用运行在机器人操作系统(ROS)上的模块化框架。该系统计算执行动作的策略,而不是导航和避开障碍物的路径点。结果表明,该系统具有较强的鲁棒性,能够克服飞行器和目标定位中的不确定性,避免与障碍物发生碰撞。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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