Distributed Autonomous Pilot Control for Unmanned Aerial Vehicles (UAVs)

无人机 (UAV) 分布式自主驾驶控制

• 批准号: 513818-2017
• 负责人: Chen, Xiang
• 金额: $ 1.82万
• 依托单位: University of Windsor
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=640068
• 关键词: Distributed; Autonomous; Pilot; Control; Unmanned; Distributed; Autonomous; Pilot; Control; Unmanned

Autonomous vehicles such as Unmanned Aerial Vehicle (UAV) are gaining increasing acceptance in variousapplications. The UAV industry will see explosive growth in terms of both quantities and the areas ofapplications while the autonomous or semi-autonomous vehicles will be in the market in foreseeable future. Itis observed that the trend of autopilot control is going towards intelligent as autonomous or semi-autonomousoperations of UAVs become more and more popular and necessary. Therefore, how to develop distributedsensors or sensor network based intelligent autopilot controllers is of vital interest and also technology-wiseinnovative for the UAV industry. In this regard, a network of field sensors such as cameras, sonic sensor,RADAR, LiDAR, etc., has to be applied with information fused together to provide the perception of thesurrounding environment. The autopilot controller could then make decision based on the fused information tomaneuver the autonomous operation of UAVs.In this project, it is intended to 1. develop distributed 3-D reconstruction algorithms for sensing and perceptionperformed by cameras and LiDARs; 2. develop sensing data fusion mechanism in a networked environment tobe integrated with the flight autopilot control; and 3. implement the controller with advanced hardwaretechnology such as multi-processors with graphic processing unit (GPU) or FPGA solution upon cost andefficiency assessment. In particular, the distributed algorithms will be developed for field sensor nodes and thedata fusion mechanism will be explored and developed for a networked and complimentary configuration offield sensors in order to assemble the information collected by each individual sensor in an automated way.Based on this distributed structure and the data fusion mechanism, the intelligent autopilot controller will bebuilt up for autonomous operation of UAVs. It is expected that the project deliverable be applied to optimizeintelligent autopilot design for various autonomous missions.

无人驾驶飞机（UAV）等自动驾驶汽车正在越来越多地接受各种申请。无人机行业将在数量和申请区域内看到爆炸性的增长，而自主或半自治的车辆将在可预见的将来处于市场上。 ITIS观察到，随着无人机的自主或半自主性术变得越来越流行和必要，自动驾驶控制的趋势正在智能。因此，如何开发基于传感器或传感器网络的智能自动驾驶控制器具有至关重要的兴趣，并且对无人机行业具有至关重要的兴趣。在这方面，必须将诸如摄像机，声音传感器，雷达，激光雷达等的场传感器网络与融合在一起的信息一起应用，以提供对周围环境的感知。然后，自动驾驶仪控制器可以基于融合的信息做出决定，tomaneuver的自主操作是无人机的自主操作。在该项目中，它旨在1。开发分布式的3-D重建算法，以通过相机和LIDARS和LIDARS对其进行感应和感知的体现； 2。在与飞行自动驾驶控制集成的网络环境中开发传感数据融合机制；和3。具有先进的硬性技术的控制器，例如具有图形处理单元（GPU）的多处理器或成本和效率评估时FPGA解决方案。特别是，将针对现场传感器节点开发分布式算法，并将探索和开发ThEDATA融合机制，为网络和免费配置的阳品传感器进行探索和开发，以便以自动结构和数据融合机制为自动机制以自动机制为单独的机制来组装每个单个传感器的信息。可以预期，该项目可用于优化各种自动任务的自动驾驶设计。