Autonomous drone hunter operating by deep learning and all-onboard computations in GPS-denied environments.
PLoS One
; 14(11): e0225092, 2019.
Article
em En
| MEDLINE
| ID: mdl-31738785
ABSTRACT
This paper proposes a UAV platform that autonomously detects, hunts, and takes down other small UAVs in GPS-denied environments. The platform detects, tracks, and follows another drone within its sensor range using a pre-trained machine learning model. We collect and generate a 58,647-image dataset and use it to train a Tiny YOLO detection algorithm. This algorithm combined with a simple visual-servoing approach was validated on a physical platform. Our platform was able to successfully track and follow a target drone at an estimated speed of 1.5 m/s. Performance was limited by the detection algorithm's 77% accuracy in cluttered environments and the frame rate of eight frames per second along with the field of view of the camera.
Texto completo:
1
Base de dados:
MEDLINE
Assunto principal:
Sistemas de Informação Geográfica
/
Aprendizado Profundo
Idioma:
En
Ano de publicação:
2019
Tipo de documento:
Article
País de afiliação:
Estados Unidos