Mohammad Norouzi Articles List

List of Articles Mohammad Norouzi

Open Access Article
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1 - Design and Implementation of Quadrotor Guidance and Detection System Hardware for Passing Through Window Based on Machine Vision
Sahar Azizi Mohammad Menhaj Mohammad Norouzi
10.22094/jcr.2021.688951

Quadrotor is one of the types of flying robots that has attracted the attention of researchers due to its simple structure and perpendicular flight capability. This paper presents a new method based on machine vision for correct window detection, in smoothly unknown env More

Quadrotor is one of the types of flying robots that has attracted the attention of researchers due to its simple structure and perpendicular flight capability. This paper presents a new method based on machine vision for correct window detection, in smoothly unknown environments. One of the challenges of controlling the Quadrotor path in unknown environments is actually accurate window identification for passing through it. In this study, quadrotor Parrot Bebop2 is used which is equipped with a camera. Also, an algorithm is proposed to perform image processing to identify the window in the environment and control the quadrotor's trajectory, which is implemented on the quadrotor. This method consists of three parts: preprocessing, diagnosis and identification. First, by applying image processing algorithms, we improve the image and delete the data unrelated to the target, and then we use a smart machine vision algorithm to extract information. Furthermore, to control the quadrotor route, a proportional-integral-derivative controller is designed and implemented using Ziegler and Nichols method, which will take place during a real indoor flight in an automated tracking. According to the obtained results, it can be concluded that the use of flying robots can have positive results in military processes and assistance to people in a short time. Manuscript profile
Open Access Article
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2 - RGB-D SLAM Technique for an Indoor UAV Robot using Levenberg-Marquardt Optimization Approach
Navid Dinarvand Mohammad Norouzi Mohammad Dosaranian Moghadam
10.22094/jcr.2022.1960424.1273

Simultaneous localization and mapping (SLAM) technique is a practical approach for unmanned aerial vehicles (UAVs) to position themselves in unknown zones. In a structured arena with sufficient landmarks and enough lighting, the performance of the existing algorithms is More

Simultaneous localization and mapping (SLAM) technique is a practical approach for unmanned aerial vehicles (UAVs) to position themselves in unknown zones. In a structured arena with sufficient landmarks and enough lighting, the performance of the existing algorithms is satisfactory. But in a typical indoor field and in absence of GPS signal and poor texture and insufficient lighting, the SLAM would be unstable for navigation owing to the lack of features. In this article's suggested technique, the accuracy and resilience in many unknown situations (including dynamic and static ones) are enhanced by extracting edge and corner features instead of lone point features. A pre-processing block is intended to improve picture frames captured by the RGB-D sensor put on a robot with subpar characteristics. Using a predefined distance function, we filter out dynamic characteristics and solve dynamic issues in the same manner as static problems. Real-time use of our suggested strategy effectively reduces the influence of outliers and moving objects on the SLAM. This improves the accuracy of the procedure's computing output significantly. We validated our findings using data from the Technical University of Munich (TUM) to evaluate the proposed method. Additionally, our developed UAV is utilized for testing as well. The results of the trials indicate that the suggested approach is more precise and less susceptible to changes and system noise than the existing methods. Manuscript profile

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List of Articles Mohammad Norouzi