Augmenting UAV autonomy

Author

Ludington, B. ; Johnson, Eric ; Vachtsevanos, George

Author_Institution

Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA

Volume

13

Issue

3

fYear

2006

Firstpage

63

Lastpage

71

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;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/MRA.2006.1678140

Filename

1678140