IEEE - Aerospace and Electronic Systems - July 2022 - 41

Fahimi et al.
Figure 12.
Tracking evaluation.
entrance) are demonstrated from a perspective view.
The exact location of the crossing from the portal section
is marked by a red cross. As can be seen, the
entrance safety is achieved by sufficient distance from
borders and by moving in a direction parallel to the
window normal. Correct entrance to a window from
different initial positions are demonstrated in Figure 13
(b), where all paths end up with a vertical entrance
through window center. Also, Figure 13(c) shows the
time domain responses of the altitude adjustment controller.
The MAV has reached its altitude set point (the
window vertical center) with a reasonable settling time
given that the whole mission takes 30-40 s depending
on local gusts and the average forward speed is cautiously
set to 1m=s. Figure 14 shows the processed
image during some experiments performed in different
buildings and different times of day. A video of the
mentioned tests is available on [36].
CONCLUSION
The presented guidance strategy meets almost all the requirements
of an autonomous entry to any building under the
assumptions made. To the best of our knowledge and experiments
on datasets, these assumptions cover a majority of realworld
cases. This work was initially based on theMedian Flow
tracker, but despite the superiority ofthis tracker over others in
accommodating the scale change, it is inevitably prone to drifts.
The proposed DAE scheme has proved as an accurate compensator
for the tracker drifts. The computational simplicity of the
approach is another advantage, since the algorithm only relies
on binary thresholding operations. Moreover, the DAE has
shown a great potential in detecting the exact boundaries of
window portal sections, whose information can be used in
obtaining 6-DoF positioning data, and hence, a safe entry.
Despite the competencies, there are still key challenges
remained to enhance autonomy and safety of entry. The
JULY 2022
Figure 13.
(a) Perspective view over trajectory of the MAV. (b) Flight trajectories
with different initial positions. (c) Time domain response
for altitude adjustment.
proposed final entrance phase consists of a blind feed-forward
control strategy in close distances to the window.
Experiments on outdoor environments show that in a no wind
or gust case, this strategy works fine, but the development ofa
more robust control approach, such as inverse dynamics [37],
[38], for this vital phase is in high demand. Also, a monocular
vision-based obstacle avoidance method could additionally
increase the overall safety of the mission. Toward a fully
IEEE A&E SYSTEMS MAGAZINE
41

IEEE - Aerospace and Electronic Systems - July 2022

Table of Contents for the Digital Edition of IEEE - Aerospace and Electronic Systems - July 2022

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