论文标题
低成本无人机的目标检测，跟踪和回避系统使用基于AI的方法
Target Detection, Tracking and Avoidance System for Low-cost UAVs using AI-Based Approaches
论文作者
论文摘要
在本文中，针对使用基于AI的方法的低成本UAV飞行控制器开发了机上目标检测，跟踪和回避系统。拟议系统的目的是，盟友可以避免使用网络来避免或跟踪意外的敌人无人机来保护自身。从这个角度来看，设计了一个简单，强大的目标检测，跟踪和回避系统。目的使用了两种开源工具：一种称为SSD的最新对象检测技术和一种称为MAVSDK的Mavlink兼容系统的API。当检测到无人机时，MAVSDK会执行速度控制，以便简单有效地进行操作。循环（SITL）和循环（hitl）模拟器中的硬件在循环（SITL）中使用软件进行了验证。该算法的简单性使其具有创新性，因此应在需要低成本硬件（例如交付无人机应用程序）的未来应用程序中使用它。
An onboard target detection, tracking and avoidance system has been developed in this paper, for low-cost UAV flight controllers using AI-Based approaches. The aim of the proposed system is that an ally UAV can either avoid or track an unexpected enemy UAV with a net to protect itself. In this point of view, a simple and robust target detection, tracking and avoidance system is designed. Two open-source tools were used for the aim: a state-of-the-art object detection technique called SSD and an API for MAVLink compatible systems called MAVSDK. The MAVSDK performs velocity control when a UAV is detected so that the manoeuvre is done simply and efficiently. The proposed system was verified with Software in the loop (SITL) and Hardware in the loop (HITL) simulators. The simplicity of this algorithm makes it innovative, and therefore it should be used in future applications needing robust performances with low-cost hardware such as delivery drone applications.
