English  |  正體中文  |  简体中文  |  Post-Print筆數 : 27 |  Items with full text/Total items : 109952/140887 (78%)
Visitors : 46286192      Online Users : 781
RC Version 6.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
    •  Adv. Search
    Home ‧ Login ‧ Upload ‧ Help ‧ About ‧ Administer Goto mobile version
    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

    Files in This Item:

    File Description SizeFormat
    295.pdf570KbAdobe PDF2202View/Open


    All items in 政大典藏 are protected by copyright, with all rights reserved.


    社群 sharing

    著作權政策宣告 Copyright Announcement
    1.本網站之數位內容為國立政治大學所收錄之機構典藏，無償提供學術研究與公眾教育等公益性使用，惟仍請適度，合理使用本網站之內容，以尊重著作權人之權益。商業上之利用，則請先取得著作權人之授權。
    The digital content of this website is part of National Chengchi University Institutional Repository. It provides free access to academic research and public education for non-commercial use. Please utilize it in a proper and reasonable manner and respect the rights of copyright owners. For commercial use, please obtain authorization from the copyright owner in advance.

    2.本網站之製作，已盡力防止侵害著作權人之權益，如仍發現本網站之數位內容有侵害著作權人權益情事者，請權利人通知本網站維護人員(nccur@nccu.edu.tw)，維護人員將立即採取移除該數位著作等補救措施。
    NCCU Institutional Repository is made to protect the interests of copyright owners. If you believe that any material on the website infringes copyright, please contact our staff(nccur@nccu.edu.tw). We will remove the work from the repository and investigate your claim.
    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - Feedback