Bilateral teleoperation of an unmanned aerial vehicle for forest fire detection

作者：Huiyu Sun, Guangming Song, Zhong Wei, Ying Zhang, Shengsong Liu · 年份：2017 · DOI：10.1109/icinfa.2017.8078976 · 被引用次数：18 · 研究领域：Fire Detection and Safety Systems、Video Surveillance and Tracking Methods、Evacuation and Crowd Dynamics

In this paper, a bilateral aerial teleoperation system based on force feedback is proposed for monitoring and detecting the forest fires. First of all, an aerial teleoperation system is proposed to enforce the velocity synchronization of the master and the slave. Velocity synchronization is required to achieve motion tracking of the master and slave vehicles. A force reflection is provided to the operator to improve the perceptual sensitivity of the remote environment. In addition, a modified wave variables method is employed to deal with the time-varying delays in the aerial teleoperation system. Then, a forest fire detection algorithm utilizing both color and motion features is presented for detecting the forest fires. Finally, the experiments are conducted to validate the effectiveness of the proposed framework for forest fire detection.