Russian Federation
Russian Federation
UDK 62-503.5 с определенным вводом
the development of a mathematical model of autonomous guidance for unmanned aerial vehicles based on computer vision is presented. The model uses a nonlinear response function with dynamic variation of the nonlinearity coefficient depending on the distance to the target, which improves the accuracy and stability of unmanned aerial vehicle guidance given different flight conditions and target characteristics. The problem of video frame aspect ratio mismatch is also considered and methods for normalizing the coordinates of the square on the screen to ensure uni-form and predicable unmanned aerial vehicle response are proposed. As a result, an improved adaptive mathematical model is developed that provides more efficient motion control for the unmanned aerial vehicle, allowing it to accurately track the target and keep it in the center of the frame under different flight conditions.
unmanned aerial vehicle, computer vision, autonomous guidance, region of interest, automatic control, adaptive control
1. Shevchenko O. Yu., Borichevskiy A. B. Ispol'zovanie bespilotnyh letatel'nyh apparatov dlya vedeniya monitoringa ispol'zovaniya territoriy // Ekonomika i ekologiya territorial'nyh obrazovaniy. 2015. № 3. S. 150–152. EDN: UNYNXL
2. Zoev I. V., Markov N. G., Ryzhova S. E. Intellektual'naya sistema komp'yuternogo zreniya bespilotnyh letatel'nyh apparatov dlya monitoringa tehnologicheskih ob'ektov predpriyatiy neftegazovoy otrasli // Izvestiya Tomskogo politehnicheskogo universiteta. Inzhiniring georesursov. 2019. T. 330. № 11. S. 34–49. DOI:https://doi.org/10.18799/24131830/2019/11/2346
3. Leschenko B. G. Bespilotnyy letatel'nyy apparat s primeneniem sredstv mashinnogo zreniya na transportnom predpriyatii // Vestnik Gosudarstvennogo morskogo universiteta imeni admirala F. F. Ushakova. 2018. № 2(23). S. 29–33. EDN: YMZPJB
4. Basharkin M. V., Isaycheva A. G., Isaycheva N. A. Teplovizionnyy kontrol' rel'sovoy linii s pomosch'yu BPLA // Avtomatika, svyaz', informatika. 2024. № 9. S. 14–16. DOI:https://doi.org/10.62994/AT.2024.9.9.004
5. Sacyuk A. V., Vorob'eva A. A. Osobennosti razrabotki bespilotnyh letatel'nyh apparatov dlya otrasli zheleznodorozhnogo transporta // Sbornik nauchnyh trudov Doneckogo instituta zheleznodorozhnogo transporta. 2023. № 68. S. 13–21.
6. Chebykin I. A., Semenov S. S. Analiz transportnogo potoka s pomosch'yu iskusstvennogo intellekta // Modernizaciya i nauchnye issledovaniya v transportnom komplekse. 2020. T. 1. S. 354–358. EDN: LVTUDN
7. Lebedev A. O., Vasil'ev V. V. Algoritm upravleniya poletom BPLA nad zheleznoy dorogoy v avtomaticheskom rezhime s ispol'zovaniem komp'yuternogo zreniya // Avtometriya. 2021. T. 57. № 4. S. 85–90. DOI:https://doi.org/10.15372/AUT20210410
8. Kalinovskiy N. Primenenie sistem komp'yuternogo zreniya v bespilotnyh letatel'nyh apparatah: novye vozmozhnosti dlya robototehniki // Elektronika: Nauka, tehnologiya, biznes. 2024. № 3(234). S. 108– 110. DOI:https://doi.org/10.22184/1992–4178.2024.234.3.108.110
9. Obzor metodov vizual'noy navigacii i algoritmov planirovaniya puti dlya bespilotnyh letatel'nyh apparatov / M. P. Korsakov [i dr.] // Glavnyy mehanik. T. 21. № 6(250). S. 25–33. EDN: NRJWBM
10. Rossolov R. A., Lyskov R. A., Davydov N. N. Avtonomnaya sistema pozicionirovaniya BPLA v zamknutom prostranstve s ispol'zovaniem komp'yuternogo zreniya // Proektirovanie i tehnologiya elektronnyh sredstv. 2018. № 3. S. 14–17. EDN: YYHGZV
11. Shirokov I. B., Zinchenko E. G. Sistema avtomatizirovannoy posadki BPLA na dvizhuschuyusya platformu na baze algoritmov tehnicheskogo zreniya // Izvestiya Tul'skogo gosudarstvennogo universiteta. Tehnicheskie nauki. 2022. № 9. S. 293–297. DOI:https://doi.org/10.24412/2071- 6168-2022-9-293-297
12. Kontrol' zavisaniya BPLA dlya avtomaticheskoy posadki na peredvizhnuyu platformu korablya / A. A. Silkin [i dr.] // Morskoy vestnik. 2023. № 3(87). S. 105–107. EDN: BDMWCW
13. Getmancev A. Yu., Tihomirov N. V., Men'shakova T. V. Sintez mnogourovnevoy arhitektury sistemy navedeniya i avtomaticheskoy posadki bespilotnogo letatel'nogo apparata na dvizhuscheesya transportnoe sredstvo // Ekstremal'naya robototehnika. 2024. № 1(34). S. 461–470. EDN: PGYWXX
14. Sacyuk A. V., Voevoda E. G., Stazharova L. N. Analiz trekerov algoritmov komp'yuternogo zreniya v voprosah otslezhivaniya ob'ektov v videopotoke // Cifrovye infokommunikacionnye tehnologii: sbornik nauchnyh trudov. Rostov n/D.: RGUPS, 2023. S. 407–412.
15. Sacyuk A. V., Voevoda E. G. Analiz trekerov algoritmov komp'yuternogo zreniya v voprosah otslezhivaniya podvizhnyh ob'ektov v videopotoke // Sbornik nauchnyh trudov Doneckogo instituta zheleznodorozhnogo transporta. 2023. № 71. S. 54–65.
