The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external disruptions, such as a ground station's loss of connectivity, security missions, safety concerns, and delivery-related missions. Therefore, depending on the scenario, this could affect the operations and result in the safe landing of UAVs. Hence, this paper presents a heuristic approach towards safe landing of multi-rotor UAVs in the dynamic environments. The aim of this approach is to detect safe potential landing zones - PLZ, and find out the best one to land in. The PLZ is initially, detected by processing an image through the canny edge algorithm, and then the diameter-area estimation is applied for each region with minimal edges. The spots that have a higher area than the vehicle's clearance are labeled as safe PLZ. Onto the second phase of this approach, the velocities of dynamic obstacles that are moving towards the PLZs are calculated and their time to reach the zones are taken into consideration. The ETA of the UAV is calculated and during the descending of UAV, the dynamic obstacle avoidance is executed. The approach tested on the real-world environments have shown better results from existing work.
翻译:我们所居住的世界充满了技术,而且随着时间的流逝,无人驾驶飞行器的进步和使用效率不断提高。由于许多应用方案,有些特派团无人驾驶飞行器很容易受到外部干扰,例如地面站失去连通性、安全任务、安全关切和与交付有关的任务,因此,视情景而定,这可能影响到无人驾驶飞行器的运行,导致无人驾驶飞行器安全着陆。因此,本文件对多旋翼无人驾驶飞行器安全降落在动态环境中的做法采取了超速的方法。这一方法的目的是探测潜在的安全着陆区(PLZ),并找出降落的最佳着陆区。最初,通过处理一个图像,通过罐头边缘算法检测到PLZ,然后对每个区域采用直径面积估计,其边缘最小。比车辆清除面积高的地方被贴上安全着陆的PLZ。在这种方法的第二阶段,正在向波兰移动的动态障碍的速度正在计算,它们到达这些区域的时间也在计算之中。在实际工作环境中所展示的越快障碍正在被计算出来。