A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems.
This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement.
Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, Australia. andy90@me.com.
Andrew James
AJ
Cooper
Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, Australia. chelsea.redman@connect.qut.edu.au.
Chelsea Anne
CA
Redman
Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, Australia.
David Mark
DM
Stoneham
Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, Australia. Felipe.gonzalez@qut.edu.au.
Luis Felipe
LF
Gonzalez
Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, Australia. victorkwesi.etse@connect.qut.edu.au.
Victor Kwesi
VK
Etse
aerial filming; aerial photography; dynamic waypoint navigation; predictive path planning; societal integration; unmanned aircraft system