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    政大機構典藏 > 資訊學院 > 資訊科學系 > 會議論文 >  Item 140.119/135540


    Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/135540


    Title: UAV System Integration of Real-time Sensing and Flight Task Control for Autonomous Building Inspection Task
    Authors: 劉吉軒
    Jyi-Shane Liu
    Li, Gong-Yi
    Soong, Ru-Tai
    Huang, Yen-Ting
    Contributors: 資科系
    Keywords: Visual Sensing;Real-Time Computing;UAV;Navigation Control;Behavior Tree;Robot Operating System
    Date: 2019-11
    Issue Date: 2021-06-04 14:50:51 (UTC+8)
    Abstract: Most current research on autonomous UAV control are conducted in virtual environment and often focus on specific technical domains, such as communication protocol and visual computing, etc. These research are rarely integrated as one, making it less applicable and effective. However, application platforms solving practical problems require system integration in real-world environments. In this paper, we propose a UAV task-oriented flight control system integrated with real-time sensing based on Robot Operating System. The flight control system also incorporates behavior tree as a decision control mechanism. We apply our system in a building inspection task, whereas the UAV takes-off near the riverbank, flies forward following the road across a bridge, and arrives at a designated building to perform a zig-zag image scan. The system is implemented and field tested on a ready-to-fly quadrotor. Captured images are transmitted through Wi-Fi to a laptop for real-time visual sensing, and flight directions are then calculated and provided to the UAV for navigation. Our experiment shows promising results - the UAV can successfully complete the task within 25 minutes. Some suggestions and solutions are provided for future improvements.
    Relation: Proceedings of the 2019 International Conference on Technologies and Applications of Artificial Intelligence (TAAI), National University of Kaohsiung
    Data Type: conference
    DOI 連結: https://doi.org/10.1109/TAAI48200.2019.8959825
    DOI: 10.1109/TAAI48200.2019.8959825
    Appears in Collections:[資訊科學系] 會議論文

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