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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...
In this paper, we present a systematic design and implementation of a robust real-time embedded vision system for an unmanned helicopter for ground target seeking and following. The on-board software system is developed based on a multithread technology capable of coordinating multiple tasks. To realize the autonomously ground target seeking and following, a sophisticated vision algorithm is proposed...
Determining the motion of an unmanned aerial vehicle in GPS-denied environments is a challenging work. In this paper, we present a systematic design and implementation of a vision aided motion estimation approach for an unmanned helicopter in such a condition. A hierarchical vision scheme is proposed to detect a structured landmark, and find the correspondence between the 3D reference points and the...
We present in this paper the actual implementation results of flight formation of multiple unmanned helicopters. More specifically, we consider a leader-follower formation flight behavior with two scenarios: 1) the flight formation test with the leader being a manned helicopter following a zigzag-like trajectory, and 2) the flight test with the leader being an unmanned system following circle and...
The objective of the paper is to design the control system of following a predefined 3D path while maintaining a specified flight speed and considering the timing constraint. This can be accomplished by a cascaded solution framework based on theoretical dynamic error modeling. The controller for each loop can thus be designed separately so that the design problem is simplified and the control system...
In recent years, research and development of unmanned vehicles have gained much attention in the academic and military communities worldwide. Objects like unmanned aircraft, underwater exploiters, satellites and intelligent robotics are widely investigated as they have potential applications in both military and civilian domains. We present in this paper a brief overview on miniature fixed-wing unmanned...
In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model...
We document in this article a general introduction to modern miniature unmanned rotorcraft systems. More specifically, we present a fairly detailed overview on the hardware configuration, software integration, aerodynamic modeling, automatic flight control system, and computer vision system involved in forming an unmanned rotorcraft system.
We present in this paper some preliminary research work carried out for SheLion, a vision-based unmanned aerial vehicle (UAV) designed and built by the UAV research team at the National University of Singapore. Unlike HeLion, a twin brother of SheLion, the latter is equipped with an onboard camera and image processing system, which is capable of detecting and tracking ground targets. We first give...
An autonomous flight control law applicable to full-envelope was designed in this manuscript for a small-scale unmanned aerial vehicle (UAV) helicopter to fly autonomously. The UAV helicopter was constructed based on a radio-controlled hobby helicopter by assembling an avionic system. The autonomous flight control law applicable to full-envelope was designed using a decentralized design methodology...
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