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Autonomous Quadrotor for accurate positioning

机译:自动四旋翼定位器

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Surveillance missions in vast, difficult access environments are responsible for logistic difficulties in comparison to using an in loco monitoring team. For this and many other reasons, solutions with robotic platforms such as unmanned aerial vehicles (UAVs), present economic advantages. Due to the cited potentialities, the focus of this work was the development of an AUAV with sufficient load capacity to embed solutions for monitoring environmental areas, carrying out its missions with high precision in positioning based on the data processing from different sensors like optical flow (OF), camera, inertial measurement unit (IMU) and GPS units, mostly in procedures of loitering and landing.A high processing unit was embedded into the UAV architecture to perform autonomous tracking for a landing mark pattern, based on computer vision algorithms and fuzzy logic rules developed in our laboratory, for precision landing procedures.
机译:与使用机车内部监视团队相比,在庞大且难以进入的环境中进行监视任务会导致后勤困难。由于这个以及许多其他原因,具有机器人平台(例如无人机)的解决方案具有经济优势。由于提到的潜力,这项工作的重点是开发具有足够负载能力的AUAV,以嵌入用于监视环境区域的解决方案,并基于来自不同传感器(例如光流量)的数据处理来高精度地执行其定位任务( OF,相机,惯性测量单元(IMU)和GPS单元,主要是在游荡和着陆过程中。基于计算机视觉算法和模糊技术,UAV架构中嵌入了一个高度处理单元,可以自动跟踪着陆标记图案我们实验室中制定的用于精确着陆程序的逻辑规则。

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