VISUAL LINE TRACKING with VECTOR FIELD GUIDANCE for UAV
Kerem Koksal, Dilek Surucu, Murat Surucu, Rifat Hacioglu, None None
proceeding (Uluslararası, Hakemli) | Yazar(lar): Kerem Koksal, Dilek Surucu, Murat Surucu, Rifat Hacioglu, None None | Yıl: 2014 | Dergi/Kurum: 2014 22ND SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | İndeks: WOS.ISTP — Özet: In this study, it is aimed to follow a visual route by an Unmanned Aeria
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.