Next Article in Journal
Single Interdigital Transducer Approach for Gravimetrical SAW Sensor Applications in Liquid Environments
Next Article in Special Issue
Assessment of the Possibility of Using Unmanned Aerial Vehicles (UAVs) for the Documentation of Hiking Trails in Alpine Areas
Previous Article in Journal
A Bluetooth Low Energy Indoor Positioning System with Channel Diversity, Weighted Trilateration and Kalman Filtering
Previous Article in Special Issue
Observing Spring and Fall Phenology in a Deciduous Forest with Aerial Drone Imagery
Article Menu
Issue 12 (December) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(12), 2929; doi:10.3390/s17122929

Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System

Robotics and autonomous systems, Queensland University of Technology (QUT), Brisbane City QLD 4000, Australia
*
Author to whom correspondence should be addressed.
Received: 4 November 2017 / Revised: 4 December 2017 / Accepted: 15 December 2017 / Published: 17 December 2017
(This article belongs to the Special Issue UAV or Drones for Remote Sensing Applications)
View Full-Text   |   Download PDF [6944 KB, uploaded 17 December 2017]   |  

Abstract

In this paper, a system that uses an algorithm for target detection and navigation and a multirotor Unmanned Aerial Vehicle (UAV) for finding a ground target and inspecting it closely is presented. The system can also be used for accurate and safe delivery of payloads or spot spraying applications in site-specific crop management. A downward-looking camera attached to a multirotor is used to find the target on the ground. The UAV descends to the target and hovers above the target for a few seconds to inspect the target. A high-level decision algorithm based on an OODA (observe, orient, decide, and act) loop was developed as a solution to address the problem. Navigation of the UAV was achieved by continuously sending local position messages to the autopilot via Mavros. The proposed system performed hovering above the target in three different stages: locate, descend, and hover. The system was tested in multiple trials, in simulations and outdoor tests, from heights of 10 m to 40 m. Results show that the system is highly reliable and robust to sensor errors, drift, and external disturbance. View Full-Text
Keywords: unmanned aerial vehicles; vision-based navigation; vision and action; OODA; remote sensing; inspection; target detection unmanned aerial vehicles; vision-based navigation; vision and action; OODA; remote sensing; inspection; target detection
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Hinas, A.; Roberts, J.M.; Gonzalez, F. Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System. Sensors 2017, 17, 2929.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top