Title :
Augmenting UAV autonomy
Author :
Ludington, B. ; Johnson, Eric ; Vachtsevanos, George
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
Abstract :
The addition of a camera to an unmanned aerial vehicle (UAV) allows the vehicle to perform a variety of tasks autonomously. This paper presents UAV vision systems that were developed and tested at the Georgia Institute of Technology to perform three of these tasks on the GTMax unmanned research helicopter. The first system demonstrates a vision-based navigation system. The second system demonstrates an automated search routine for stationary ground targets. The third system demonstrates a ground target tracking architecture for mobile targets
Keywords :
aircraft control; control engineering computing; image sensors; mobile robots; path planning; remotely operated vehicles; robot vision; target tracking; telerobotics; UAV vision systems; automated search routine; ground target tracking; stationary ground targets; unmanned aerial vehicle; vision-based navigation system; Aircraft navigation; Cameras; Helicopters; Machine vision; Mobile robots; Performance evaluation; Remotely operated vehicles; System testing; Target tracking; Unmanned aerial vehicles;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2006.1678140
