초록

Abstract ▼

1. Research Purpose
- Justify why this research is new and important
- Expected impact of research results
Unmanned vehicles can be very useful for both civilian and military applications especially when human intervention is deemed unecessary and dangerous. Recently, at Fukushima nuclear p

1. Research Purpose
- Justify why this research is new and important
- Expected impact of research results
Unmanned vehicles can be very useful for both civilian and military applications especially when human intervention is deemed unecessary and dangerous. Recently, at Fukushima nuclear powerplant in Japan after the fatal earthquake on March 2011, CH-47 helicopters were frantically deployed to spray cooling water on the reactor, but it was not successful due to the high risk to fly the vehicle in a lethally radioactive area, i.e., right over the damaged nuclear reactors. This is exactly on of the applications that the UAVs should perform instead of humans: the vehicle can be operated without considering the safety factors of the human crew onboard.
Recent advances in the image processing and computer vision allow us for many new and powerful methods to extract information from the camera can be categorized into the followings: 1) navigation information of the host vehicle and 2) information on the surroundings. The former can be used to estimate the ego-motio (host vehicle's motion) and the latter can be used to collect information about the surroundings and then generate trajectories for obstacle tracking or avoidance. In addition, extracted vision information may serve as a basis to plan a path to fulfill the given mission in a more efficient and effective way. UAVs are typically equipped with at least on camera as a standard payload for surveillance missions. Therefore, the research proposed here can help to enhance the capability of UAV without adding new equipment.

목차 Contents

• 2011 Seed Money Project Final Report ... 1
• 1. Research Purpose ... 2
• 2. Research Taget Using Progress Chart ... 4
• 3. Research Method ... 7
• 1) Vision-enabled UAVs navigation and control ... 7
• 2) Information-based path planning for surveillance and tracking Decentralized Task Re-Planning Approaches with en Route Information Rewards ... 44
• 4. Research Results ... 55
• 5. Reference ... 67