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Implementation of vision-based automatic guidance system on a fixed-wing unmanned aerial vehicle

Published online by Cambridge University Press:  27 January 2016

C-S Lee  and
F-B Hsiao
C-S Lee
Affiliation:
Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan City, Taiwan
F-B Hsiao*
Affiliation:
Institute of Aeronautics and Astronautics, National Cheng Kung University, Tainan City, Taiwan
*
[email protected]
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Abstract

This paper presents the design and implementation of a vision-based automatic guidance system on a fixed-wing unmanned aerial vehicle (UAV). The system utilises a low-cost ordinary video camera and simple but efficient image processing techniques widely used in computer-vision technology. The paper focuses on the identification and extraction of geographical tracks such as rivers, coastlines, and roads from real-time aerial images. The image processing algorithm primarily uses colour properties to isolate the geographical track of interest from its background. Hough transform is eventually used to curve-fit the profile of the track which yields a reference line on the image plane. A guidance algorithm is then derived based on this information. In order to test the vision-based automatic guidance system in the laboratory without actually flying the UAV, a hardware-in-the-loop simulation system is developed. Description regarding the system and significant simulation result are presented in the paper. Finally, an actual test flight where the UAV successfully follows a stretch of a river under automatic vision-based guidance is also presented and discussed.

Type
Research Article
Information
The Aeronautical Journal , Volume 116 , Issue 1183 , September 2012 , pp. 895 - 914
Copyright
Copyright © Royal Aeronautical Society 2012 

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