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In this work, we present the development of a target tracking and following system using a self-customized hybrid UAV, KH-Lion. KH-Lion is a small and autonomous tail-sitter UAV stabilized and controlled by two vectored propulsion systems. A target tracking system was developed on this platform for autonomous target following on a predetermined moving object on the ground. A customized AprilTag marker...
This manuscript describes a UAV implemented with vision and laser based localization algorithm to track and land on a moving platform. Specifically, a pre-designed marker is installed on the moving platform and a downward facing monocular camera is mounted on the UAV for pose estimation. For a robust and precise UAV height estimation, a LiDAR scanning range finder is utilized to determine accurate...
Unmanned aerial vehicle (UAV) and Chinese calligraphy seem like two completely unrelated subjects in today’s world. UAV, as one of the most advanced technology to date, has gathered much attention lately due to its potentially unlimited applications. Contrarily, Chinese calligraphy is one of the most beautiful and ancient calligraphy art originally developed from China few thousand years ago. Today...
In this work, we report our solutions to the problems given in the 2014 International Micro Aerial Vehicle Competition, held in Delft, the Netherlands, August 2014, which involves using micro air vehicles in urban post-disaster search and rescue missions. Solutions to all key mission elements of the competition, including real-time map stitching, indoor navigation and roof-top perching, are documented...
This paper presents an intelligent and robust guidance, navigation and control solution for a rotorcraft UAV to perform automatic cargo transportation between two moving platforms. Different from the conventional GPS/INS based navigation, the proposed UAV system also integrates a scanning laser range finder to robustly correct its altitude measurement and an advanced vision sub-system to detect the...
Unmanned aerial vehicle (UAV) and Chinese calligraphy seem like two completely unrelated subjects in today's world. UAV, as one of the most advanced technology to date, has gathered much attention lately due to its potentially unlimited applications. Contrarily, Chinese calligraphy is one of the most beautiful and ancient calligraphy art originally developed from China many thousand years ago. Today...
This paper presents a robust and efficient navigation solution for a quadrotor UAV to perform autonomous flight in a confined but partially known indoor environment. The main sensors used onboard of the UAV are two scanning laser range finders and an inertial measurement unit. When the indoor environment is structured and the coordinates of its key corner features are known, the UAV planer position...
In this work, we provide a nonlinear mathematical model identification methodology of an autonomous micro quadrotor, and the design of its orientation and position controllers. In the model identification, we specifically focus on the brushed D.C. motor dynamics, which further breaks down into three different segments: voltage generation, motor dynamics, and force/torque generation. Test bench experiments...
This paper presents a comprehensive control and navigation scheme for an indoor UAV system. In addition to the inertial measurement unit commonly used onboard of most UAVs, the testbed quadrotor platform is also equipped with a mono-camera looking downwards and a laser range finder capable of scanning a level plane. With this setup, the UAV is able to estimate its own velocity and position robustly,...
In this paper, a micro quadrotor aircraft with approximately 40 g gross weight and 8 min flight endurance is developed. System development of this micro aerial vehicle is discussed in terms of the design of the mechanical structure and electrical systems. Mechanical structure is designed based on the proposed weight budget, propulsion system efficiency as well as results of structural analysis. Mechanical...
The recent development of small yet sophisticated sensors has led to the development of smaller unmanned aerial vehicles, especially in the form of quadrotor. When it is limited by the availability of the reverse propellers, the conventional quadrotor will no longer be realizable, and thus introducing the 4-standard-propeller (4SP) quadrotor design. This paper presents a comprehensive nonlinear modeling...
The paper presents a control scheme to the formation flight of a pair of unmanned rotorcraft. A leader-follower formation strategy is adopted and it is realized by utilizing the robust and perfect tracking (RPT) control approach. More specifically, individual RPT flight control laws are implemented in each aircraft, while the measurements from its neighbor and its own sensors are both taken into account...
This paper presents the work that has been done to derive an accurate nonlinear model for a miniature fixed-pitch coaxial helicopter. Starting from the Newton-Euler rigid body dynamic equations, forces and torques generated at various parts of the UAV have been identified and formulated. The physical meanings behind the model are clearly explained, and the methods of identifying all the important...
This paper describes the development of an Unmanned Aerial Vehicle (UAV) with the aid of a vision processing system for indoor navigation. A co-axial radio-controlled (RC) helicopter is upgraded with a customized on-board avionics system which include two Gumstix Linux computer systems as the on-board processors. A camera module is used to capture real time video during the flight to perform real...
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