here is the presentation for the AUTONOMOUS TARGET FOLLOWING BY UAV....uav means UNMANED AERIAL VEHICLE

1. AUTONOMOUS TARGET
FOLLOWING BY UAV

2. SEMINAR GUIDE
KUBER K.H.

3. Outlines
•Abstract
•Introduction
•Classification of UAV
•Autonomy of UAV
•Autonomous target following methods
•Application of UAV
•Advantage & Disadvantage of UAV
•Conclusion
•Reference

4. In this paper we present an algorithm for the
autonomous navigation of an unmanned aerial
vehicle (UAV) following a moving target.
It gives applicable method for the tracking of ground
vehicles by aerial vehicles.
It depends on the capability to follow waypoint
commands. Sensing of ground vehicle position with
significant time delays is assumed.
The delays model the time of image processing, and
the communication delays involved in sending data to
a ground station, performing the computations and
receiving the results on the UAV.

5. The UAV is an acronym for Unmanned Aerial
Vehicle, which is an aircraft with no pilot on
board.
UAVs can be remote controlled aircraft .(e.g.
flown by a pilot at a ground control station) or can
fly autonomously based on pre-programmed flight
plans or more complex dynamic automation
systems.

6. Target and decoy
Reconnaissance
Combat
Research and development
Civil and Commercial UAVs
Logistics

7.  Sensor fusion
 Communications
 Path planning
 Trajectory Generation/Motion planning
 Trajectory Regulation
 Task Allocation and Scheduling
 Cooperative Tactics

8. Path planning
Cameras, Horizon air framework, Image
processing technique, object recognition algorithm
Sensing
Vision based system with downward looking
camera
Filtering
Kalman filter

9. Idle
 Explore
 Vision-based tracking
 GPS-based tracking
 Align
 Safe state

10. Input image
Filtering
Car detection
Matching

11. Taking off
Following
1. Target initialization
2. On-time tracking
3. Error handling
Landing

12. Colour based vision
tracking is used.
Camera attached to the
airframe of UAV,
pointing downwards,
IMU & Barometer
Data is transmitted
between UAV & GCS
through radio
transmission
GCS done computation

13. Pan-tilt camera, PWM
servo driven, 2-axis
(pitch-yaw) controller
with gimbal position
feedback sensor for plane
orientation tracking
Sensor stabilized with
flight software using IMU
feed forward technique
for target tracking
Target coordinates
computed in ECEF

14.  Remote sensing
 Commercial aerial surveillance
 Domestic policing
 Oil, gas and mineral exploration and production
 Transport
 Scientific research
 Armed attacks
 Civilian casualties
 Search and rescue
 Conservation
 Forest fire detection
 Archaeology
 Future potential

15. Does not contain, or need, a qualified pilot on board
Can enter environments that are dangerous to human
life
Reduces the exposure risk of the aircraft operator
Can stay in the air for up to 30 hrs
Can be programmed to complete the mission
autonomously even when contact with it’s GCS is lost
Safer environment
Even if plane crash, pilot still safe.
UAVs can go faster

16. Very expensive to produce and keep up
Human mistake in remote controls can cause plane to
crash
Computer systems or software could break down
resulting in loss of plane and casualities on ground.
In adverse weather such as rain, snow, ice, frost or fog
UAV can not be launched or land or perform its
function.
Often mechanical failures

17. UAV follows lateral guidance law for autonomous
target following.
 A full vision-based tracking , a color-based
tracking, GPS tracking, Image processing
techniques, Object recognition algorithm, Real
time vision algorithm etc. are followed by UAV
for autonomous target following.

18.  Concorde Technical Specs,
http://www.concordesst.com/autopilot.html
 UAV Roadmap 2005-2030,
www.fas.org/irp/program/collect/uav_roadmap2005.pdf
 Dp-5X, X-50 Dragonfly,
http://www.defensetech.org/archives/001748.html
 UAVs as Tactical wingmen,
http://web.mit.edu/aeroastro/www/labs/halab/papers/UAV_wingmen_AUVSIdraft.pd
f
 Autopilot Design, http://www.aiaa.org/content.cfm?
pageid=406&gTable=mtgpaper&gID=95289
 Flight Systems and Goals
http://www.aa.washington.edu/research/afsl/

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