Drones最新文献_第8页

Generation of Virtual Ground Control Points Using a Binocular Camera 使用双目摄像头生成虚拟地面控制点

Drones Pub Date : 2024-05-12 DOI: 10.3390/drones8050195

Ariel Vazquez-Dominguez, A. Magadán-Salazar, R. Pinto-Elías, J. Fuentes-Pacheco, Máximo López-Sánchez, Hernán Abaunza-González

引用次数: 0

Strategies for Optimized UAV Surveillance in Various Tasks and Scenarios: A Review 在各种任务和场景中优化无人机监视的策略：综述

Drones Pub Date : 2024-05-12 DOI: 10.3390/drones8050193

Zixuan Fang, A. Savkin

{"title":"Strategies for Optimized UAV Surveillance in Various Tasks and Scenarios: A Review","authors":"Zixuan Fang, A. Savkin","doi":"10.3390/drones8050193","DOIUrl":"https://doi.org/10.3390/drones8050193","url":null,"abstract":"This review paper provides insights into optimization strategies for Unmanned Aerial Vehicles (UAVs) in a variety of surveillance tasks and scenarios. From basic path planning to complex mission execution, we comprehensively evaluate the multifaceted role of UAVs in critical areas such as infrastructure inspection, security surveillance, environmental monitoring, archaeological research, mining applications, etc. The paper analyzes in detail the effectiveness of UAVs in specific tasks, including power line and bridge inspections, search and rescue operations, police activities, and environmental monitoring. The focus is on the integration of advanced navigation algorithms and artificial intelligence technologies with UAV surveillance and the challenges of operating in complex environments. Looking ahead, this paper predicts trends in cooperative UAV surveillance networks and explores the potential of UAVs in more challenging scenarios. This review not only provides researchers with a comprehensive analysis of the current state of the art, but also highlights future research directions, aiming to engage and inspire readers to further explore the potential of UAVs in surveillance missions.","PeriodicalId":507567,"journal":{"name":"Drones","volume":"116 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140986473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems 可实时实现的空中合作操纵系统综述

Drones Pub Date : 2024-05-12 DOI: 10.3390/drones8050196

Stamatina C. Barakou, C. Tzafestas, K. Valavanis

引用次数: 0

PPSwarm: Multi-UAV Path Planning Based on Hybrid PSO in Complex Scenarios PPSwarm：复杂场景中基于混合 PSO 的多无人机路径规划

Drones Pub Date : 2024-05-11 DOI: 10.3390/drones8050192

Qicheng Meng, Kai Chen, Qingjun Qu

{"title":"PPSwarm: Multi-UAV Path Planning Based on Hybrid PSO in Complex Scenarios","authors":"Qicheng Meng, Kai Chen, Qingjun Qu","doi":"10.3390/drones8050192","DOIUrl":"https://doi.org/10.3390/drones8050192","url":null,"abstract":"Evolutionary algorithms exhibit flexibility and global search advantages in multi-UAV path planning, effectively addressing complex constraints. However, when there are numerous obstacles in the environment, especially narrow passageways, the algorithm often struggles to quickly find a viable path. Additionally, collaborative constraints among multiple UAVs complicate the search space, making algorithm convergence challenging. To address these issues, we propose a novel hybrid particle swarm optimization algorithm called PPSwarm. This approach initially employs the RRT* algorithm to generate an initial path, rapidly identifying a feasible solution in complex environments. Subsequently, we adopt a priority planning method to assign priorities to UAVs, simplifying collaboration among them. Furthermore, by introducing a path randomization strategy, we enhance the diversity of the particle swarm, thereby avoiding local optimum solutions. The experimental results show that, in comparison to algorithms such as DE, PSO, ABC, GWO, and SPSO, the PPSwarm algorithm demonstrates significant advantages in terms of path quality, convergence speed, and runtime when addressing path planning issues for 40 UAVs across four different scenarios. In larger-scale experiments involving 500 UAVs, the proposed algorithm also exhibits excellent processing capability and scalability.","PeriodicalId":507567,"journal":{"name":"Drones","volume":"120 39","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140987300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Design and Development of an Air–Land Amphibious Inspection Drone for Fusion Reactor 聚变反应堆空陆两栖巡检无人机的设计与开发

Drones Pub Date : 2024-05-11 DOI: 10.3390/drones8050190

Guodong Qin, Youzhi Xu, Wei He, Qian Qi, Lei Zheng, Haimin Hu, Yong Cheng, Congju Zuo, Deyang Zhang, Aihong Ji

{"title":"Design and Development of an Air–Land Amphibious Inspection Drone for Fusion Reactor","authors":"Guodong Qin, Youzhi Xu, Wei He, Qian Qi, Lei Zheng, Haimin Hu, Yong Cheng, Congju Zuo, Deyang Zhang, Aihong Ji","doi":"10.3390/drones8050190","DOIUrl":"https://doi.org/10.3390/drones8050190","url":null,"abstract":"This paper proposes a design method for a miniature air–land amphibious inspection drone (AAID) to be used in the latest compact fusion reactor discharge gap observation mission. Utilizing the amphibious function, the AAID realizes the function of crawling transportation in the narrow maintenance channel and flying observation inside the fusion reactor. To realize miniaturization, the mobile platform adopts the bionic cockroach wheel-legged system to improve the obstacle-crossing ability. The flight platform adopts an integrated rotor structure with frame and control to reduce the overall weight of the AAID. Based on the AAID dynamic model and the optimal control method, the control strategies under flight mode, hover mode and fly–crawl transition are designed, respectively. Finally, the prototype of the AAID is established, and the crawling, hovering, and fly–crawling transition control experiments are carried out, respectively. The test results show that the maximum crawling inclination of the AAID is more than 20°. The roll angle, pitch angle, and yaw angle deviation of the AAID during hovering are all less than 2°. The landing success rate of the AAID during the fly–crawl transition phase also exceeded 77%, proving the effectiveness of the structural design and dynamic control strategy.","PeriodicalId":507567,"journal":{"name":"Drones","volume":" 1122","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140989107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Channel Knowledge Map Construction Based on a UAV-Assisted Channel Measurement System 基于无人机辅助航道测量系统的航道知识图构建

Drones Pub Date : 2024-05-11 DOI: 10.3390/drones8050191

Yanheng Qiu, Xiao-min Chen, Kai Mao, Xuchao Ye, Hanpeng Li, Farman Ali, Yang Huang, Qiuming Zhu

{"title":"Channel Knowledge Map Construction Based on a UAV-Assisted Channel Measurement System","authors":"Yanheng Qiu, Xiao-min Chen, Kai Mao, Xuchao Ye, Hanpeng Li, Farman Ali, Yang Huang, Qiuming Zhu","doi":"10.3390/drones8050191","DOIUrl":"https://doi.org/10.3390/drones8050191","url":null,"abstract":"With the fast development of unmanned aerial vehicles (UAVs), reliable UAV communication is becoming increasingly vital. The channel knowledge map (CKM) is a crucial bridge connecting the environment and the propagation channel that may visually depict channel characteristics. This paper presents a comprehensive scheme based on a UAV-assisted channel measurement system for constructing the CKM in real-world scenarios. Firstly, a three-dimensional (3D) CKM construction scheme for real-world scenarios is provided, which involves channel knowledge extraction, mapping, and completion. Secondly, an algorithm of channel knowledge extraction and completion is proposed. The sparse channel knowledge is extracted based on the sliding correlation and constant false alarm rate (CFAR) approaches. The 3D Kriging interpolation is used to complete the sparse channel knowledge. Finally, a UAV-assisted channel measurement system is developed and CKM measurement campaigns are conducted in campus and farmland scenarios. The path loss (PL) and root mean square delay spread (RMS-DS) are measured at different heights to determine CKMs. The measured and analyzed results show that the proposed construction scheme can effectively and accurately construct the CKMs in real-world scenarios.","PeriodicalId":507567,"journal":{"name":"Drones","volume":" 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140988818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research on Bidirectional Multi-Span Feature Pyramid and Key Feature Capture Object Detection Network 双向多跨度特征金字塔与关键特征捕捉物体检测网络研究

Drones Pub Date : 2024-05-09 DOI: 10.3390/drones8050189

Heng Zhang, Faming Shao, Xiaohui He, Dewei Zhao, Zihan Zhang, Tao Zhang

{"title":"Research on Bidirectional Multi-Span Feature Pyramid and Key Feature Capture Object Detection Network","authors":"Heng Zhang, Faming Shao, Xiaohui He, Dewei Zhao, Zihan Zhang, Tao Zhang","doi":"10.3390/drones8050189","DOIUrl":"https://doi.org/10.3390/drones8050189","url":null,"abstract":"UAV remote sensing (RS) image object detection is a very valuable and challenging technology. This article discusses the importance of key features and proposes an object detection network (URSNet) based on a bidirectional multi-span feature pyramid and key feature capture mechanism. Firstly, a bidirectional multi-span feature pyramid (BMSFPN) is constructed. In the process of bidirectional sampling, bicubic interpolation and cross layer fusion are used to filter out image noise and enhance the details of object features. Secondly, the designed feature polarization module (FPM) uses the internal polarization attention mechanism to build a powerful feature representation for classification and regression tasks, making it easier for the network to capture the key object features with more semantic discrimination. In addition, the anchor rotation alignment module (ARAM) further refines the preset anchor frame based on the key regression features extracted by FPM to obtain high-quality rotation anchors with a high matching degree and rich positioning visual information. Finally, the dynamic anchor optimization module (DAOM) is used to improve the ability of feature alignment and positive and negative sample discrimination of the model so that the model can dynamically select the candidate anchor to capture the key regression features so as to further eliminate the deviation between the classification and regression. URSNet has conducted comprehensive ablation and SOTA comparative experiments on challenging RS datasets such as DOTA-V2.0, DIOR and RSOD. The optimal experimental results (87.19% mAP, 108.2 FPS) show that URSNet has efficient and reliable detection performance.","PeriodicalId":507567,"journal":{"name":"Drones","volume":"168 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140994610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Joint Phase Shift Design and Resource Management for a Non-Orthogonal Multiple Access-Enhanced Internet of Vehicle Assisted by an Intelligent Reflecting Surface-Equipped Unmanned Aerial Vehicle 装备智能反射面的无人机辅助非正交多址增强型车联网的联合相移设计与资源管理

Drones Pub Date : 2024-05-09 DOI: 10.3390/drones8050188

Lijuan Wang, Yixin He, Bin Chen, Abual Hassan, Dawei Wang, Lina Yang, Fanghui Huang

{"title":"Joint Phase Shift Design and Resource Management for a Non-Orthogonal Multiple Access-Enhanced Internet of Vehicle Assisted by an Intelligent Reflecting Surface-Equipped Unmanned Aerial Vehicle","authors":"Lijuan Wang, Yixin He, Bin Chen, Abual Hassan, Dawei Wang, Lina Yang, Fanghui Huang","doi":"10.3390/drones8050188","DOIUrl":"https://doi.org/10.3390/drones8050188","url":null,"abstract":"This paper integrates intelligent reflecting surfaces (IRS) with unmanned aerial vehicles (UAV) to enhance the transmission performance of the Internet of Vehicles (IoV) through non-orthogonal multiple access (NOMA). It focuses on strengthening the signals from cell edge vehicles (CEVs) to the base station by optimizing the wireless propagation environment via an IRS-equipped UAV. The primary goal is to maximize the sum data rate of CEVs while satisfying the constraint of the successive interference cancellation (SIC) decoding threshold. The challenge lies in the non-convex nature of jointly considering the power control, subcarrier allocation, and phase shift design, making the problem difficult to optimally solve. To address this, the problem is decomposed into two independent subproblems, which are then solved iteratively. Specifically, the optimal phase shift design is achieved using the deep deterministic policy gradient (DDPG) algorithm. Furthermore, the graph theory is applied to determine the subcarrier allocation policy and derive a closed-form solution for optimal power control. Finally, the simulation results show that the proposed joint phase shift and resource management scheme significantly enhances the sum data rate compared to the state-of-the-art schemes, thereby demonstrating the benefits of integrating the IRS-equipped UAV into NOMA-enhanced IoV.","PeriodicalId":507567,"journal":{"name":"Drones","volume":" 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140996006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamics Event-Triggered-Based Time-Varying Bearing Formation Control for UAVs 基于事件触发的无人飞行器时变方位编队动态控制

Drones Pub Date : 2024-05-08 DOI: 10.3390/drones8050185

Can Ding, Zhe Zhang, Jing Zhang

{"title":"Dynamics Event-Triggered-Based Time-Varying Bearing Formation Control for UAVs","authors":"Can Ding, Zhe Zhang, Jing Zhang","doi":"10.3390/drones8050185","DOIUrl":"https://doi.org/10.3390/drones8050185","url":null,"abstract":"This article addresses the leader-follower formation maneuver control problem of multiple unmanned aerial vehicles (UAVs), taking into account the time-varying velocity and time-varying relative bearing. An event-triggered bearing-based distributed velocity observer was designed, using only the desired position and velocity of the leaders. Furthermore, a dynamic event-triggered mechanism was introduced to reduce continuous communication between UAVs, thus effectively saving communication bandwidth and resources. Building on this, a bearing-only formation maneuver control strategy was proposed, integrating the event-triggered velocity observer with the backstepping control approach. To conclude, numerical simulations have been conducted to confirm the effectiveness of the proposed scheme in accomplishing formation maneuver control objectives, including translation, scaling, and rotation control. Furthermore, the advantages of the dynamic event-triggering strategy have been demonstrated through comparative simulations with traditional event-triggering strategies. Additionally, the effectiveness of the proposed observer and controller has been demonstrated by a comprehensive hardware-in-the-loop (HITL) simulation example.","PeriodicalId":507567,"journal":{"name":"Drones","volume":" 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140998016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Detection of Leak Areas in Vineyard Irrigation Systems Using UAV-Based Data 利用基于无人机的数据检测葡萄园灌溉系统的渗漏区域

Drones Pub Date : 2024-05-08 DOI: 10.3390/drones8050187

Luís Pádua, P. Marques, L. Dinis, J. Moutinho-Pereira, J. J. Sousa, R. Morais, Emanuel Peres

{"title":"Detection of Leak Areas in Vineyard Irrigation Systems Using UAV-Based Data","authors":"Luís Pádua, P. Marques, L. Dinis, J. Moutinho-Pereira, J. J. Sousa, R. Morais, Emanuel Peres","doi":"10.3390/drones8050187","DOIUrl":"https://doi.org/10.3390/drones8050187","url":null,"abstract":"Water is essential for maintaining plant health and optimal growth in agriculture. While some crops depend on irrigation, others can rely on rainfed water, depending on regional climatic conditions. This is exemplified by grapevines, which have specific water level requirements, and irrigation systems are needed. However, these systems can be susceptible to damage or leaks, which are not always easy to detect, requiring meticulous and time-consuming inspection. This study presents a methodology for identifying potential damage or leaks in vineyard irrigation systems using RGB and thermal infrared (TIR) imagery acquired by unmanned aerial vehicles (UAVs). The RGB imagery was used to distinguish between grapevine and non-grapevine pixels, enabling the division of TIR data into three raster products: temperature from grapevines, from non-grapevine areas, and from the entire evaluated vineyard plot. By analyzing the mean temperature values from equally spaced row sections, different threshold values were calculated to estimate and map potential leaks. These thresholds included the lower quintile value, the mean temperature minus the standard deviation (Tmean−σ), and the mean temperature minus two times the standard deviation (Tmean−2σ). The lower quintile threshold showed the best performance in identifying known leak areas and highlighting the closest rows that need inspection in the field. This approach presents a promising solution for inspecting vineyard irrigation systems. By using UAVs, larger areas can be covered on-demand, improving the efficiency and scope of the inspection process. This not only reduces water wastage in viticulture and eases grapevine water stress but also optimizes viticulture practices.","PeriodicalId":507567,"journal":{"name":"Drones","volume":" 89","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141000430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0