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首页> 外文期刊>Journal of Robotic Systems >Reducing the complexity of visual navigation: Optical track controller for long-range unmanned aerial vehicles
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Reducing the complexity of visual navigation: Optical track controller for long-range unmanned aerial vehicles

机译：降低视觉导航的复杂性：用于远程无人机的光学跟踪控制器

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摘要

Using vision for navigation of airborne systems provides an opportunity for motion relative to the ground to be controlled in the absence of other supporting sensors including global navigation satellite systems. Rather than relying on computationally intensive localization techniques such as online map construction, identification and tracking of landmarks, or otherwise producing an explicit quantitative estimate of position, we propose and have experimentally demonstrated a closed-loop visual navigation reflex which we term the optical ground course controller. The behavior is applicable to fixed wing aircraft traversing long ranges, and reduces the online computation and sensors required compared to other visual methods. This method combines the kinematics of fixed wing aircraft flight, the direction of apparent motion of an image sequence, and a magnetic compass to create a bioinspired optomotor reflex similar to those observed in insects. This behavior accurately controls track in the inertial reference frame (path taken over the ground) with only limited dependence on altitude, speed, and wind. We show that the proposed behavior is naturally convergent and stable, and present experimental results from simulation and real-world flight demonstrating that the method performs robustly, producing improvement over both magnetic-referenced and visual odometry-based navigation within the limits of the sensor.
机译：在没有其他支持传感器（包括全球导航卫星系统）的情况下，将视觉用于机载系统的导航提供了相对于地面运动的机会。我们提出并已通过实验证明了闭环视觉导航反射（我们称之为光学地面路线），而不是依靠诸如在线地图构建，地标的识别和跟踪之类的计算密集型定位技术，或以其他方式产生位置的明确定量估算值控制器。该行为适用于穿越远程范围的固定翼飞机，并且与其他视觉方法相比，减少了在线计算和所需的传感器。这种方法结合了固定翼飞机飞行的运动学，图像序列的视运动方向和磁罗盘，从而产生了类似于昆虫中观察到的生物激发的光动力反射。这种行为可以精确地控制惯性参考系中的轨迹（在地面上走过的路径），而对高度，速度和风的依赖性有限。我们表明，所提出的行为是自然收敛和稳定的，并且通过仿真和现实飞行获得了当前的实验结果，证明了该方法的鲁棒性，在传感器范围内对基于磁参考和基于视觉里程表的导航均产生了改进。

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