UAV Control Algorithm in Automatic Mode Using Computer Vision
A. O. Lebedev, В. В. Васильев · Optoelectronics Instrumentation and Data Processing · 2021
Abstract An algorithm for controlling the flight of an unmanned aerial vehicle (UAV) over the railway in the automatic mode without the participation of the operator and the use of satellite navigation systems is proposed. The algorithm is based on a computer analysis of the video image from the UAV camera, highlighting the rails, determining their direction relative to the UAV movement and controlling the flight characteristics (pitch, yaw, and roll) so that the flight is carried out above the railway at a given height. A feature of the algorithm is its simplicity, which does not require significant computing resources. The implementation of the algorithm does not affect the weight and size parameters and power consumption of the UAV and does not affect the range and duration of its flight. Flight tests have confirmed the reliability of the algorithm.