UAV CONTROL ALGORITHM IN THE AUTOMATIC MODE USING COMPUTER VISION
A. O. Lebedev, V. V. Vasilev
Institute of Semiconductor Physics, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: UAV, drone, Computer Vision, railways, UAV flight control
Abstract
An algorithm for controlling the flight of an unmanned aerial vehicle (UAV) over a railway in the automatic mode without participation of an operator and the use of satellite navigation systems is proposed. The algorithm is based on a computer analysis of the video image from the UAV camera, identifying the rails, determining their direction relative to the UAV movement, and controlling the flight characteristics (pitch, yaw, and roll) so that the flight is carried out above the railway at a given height. An advantageous feature of the algorithm is its simplicity, which does not require significant computing resources. The implementation of the algorithm affects neither the weight and size parameters and power consumption of the UAV nor the range and duration of its flight. Flight tests have confirmed the algorithm reliability.
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