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Open AccessArticle

Towards Autonomous Modular UAV Missions: The Detection, Geo-Location and Landing Paradigm

1
School of Mineral Resources Engineering, Technical University of Crete, Chania 73100, Greece
2
School of Electrical and Computer Engineering, Technical University of Crete, Chania 73100, Greece
3
Space Geomatica Ltd., Chania 73133, Greece
4
School of Mineral Resources Engineering, Laboratory of Geodesy and Geomatics Engineering, SenseLAB Research Group, Chania 73100, Greece
*
Author to whom correspondence should be addressed.
Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos
Sensors 2016, 16(11), 1844; https://doi.org/10.3390/s16111844
Received: 27 August 2016 / Revised: 21 October 2016 / Accepted: 25 October 2016 / Published: 3 November 2016
(This article belongs to the Special Issue UAV-Based Remote Sensing)
Nowadays, various unmanned aerial vehicle (UAV) applications become increasingly demanding since they require real-time, autonomous and intelligent functions. Towards this end, in the present study, a fully autonomous UAV scenario is implemented, including the tasks of area scanning, target recognition, geo-location, monitoring, following and finally landing on a high speed moving platform. The underlying methodology includes AprilTag target identification through Graphics Processing Unit (GPU) parallelized processing, image processing and several optimized locations and approach algorithms employing gimbal movement, Global Navigation Satellite System (GNSS) readings and UAV navigation. For the experimentation, a commercial and a custom made quad-copter prototype were used, portraying a high and a low-computational embedded platform alternative. Among the successful targeting and follow procedures, it is shown that the landing approach can be successfully performed even under high platform speeds. View Full-Text
Keywords: UAV; search and rescue; autonomous landing; smart-phone drone UAV; search and rescue; autonomous landing; smart-phone drone
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Figure 1

  • Externally hosted supplementary file 1
    Link: https://youtu.be/uj1OQxMQetA
    Description: Demonstration video for multiple target identification, mobile application for scanning and geo-location, follow me mode and landing.
MDPI and ACS Style

Kyristsis, S.; Antonopoulos, A.; Chanialakis, T.; Stefanakis, E.; Linardos, C.; Tripolitsiotis, A.; Partsinevelos, P. Towards Autonomous Modular UAV Missions: The Detection, Geo-Location and Landing Paradigm. Sensors 2016, 16, 1844.

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