In this work, a visual sensor system is applied to generate free collision trajectories using a new algorithm called Trajectory Generation Based on Remote Object Detection (TGBROD). The TGBROD algorithm is based on remote object detection through a video received from a drone to a station work. The video analysis is done by the TGBROD algorithm, and as a result, free and collision regions are defined. Using information on the regions and the drone position, free and collision vector trajectories have been generated. The trajectories were mathematically represented as the vector, parametric and symmetric equations. The free vectors find practical applications for UAVs since these can be used as references for the drone controller.
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