Unmanned
Helicopter Platform |
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Interest in hovering
unmanned aerial vehicles (hUAV) has increased in
recent years. Hovering is made possible
because these vehicles allow for more degrees of
freedom in movement as compared to traditional
fixed wing UAVs. Hovering allows the vehicle
to remain in place when needed, fly closer to
objects of concern, and maneuver in ways that
other UAVs cannot. Hovering unmanned
vehicles have been proposed for uses in crop
dusting, remote sensing, cinematography, aerial
mapping, tracking, inspection, law enforcement,
surveillance, search and rescue, etc.
Current autonomous
micro-UAVs require a computer on the ground to
process video because equipment to do so cannot be
carried on the UAV itself. This limits the
range of the aircraft and hinders its ability to
perform certain tasks because of the time required
to transmit images and commands back and forth
from the ground station.
A useful micro-UAV with
an onboard vision system needs to be rugged enough
to handle a military environment, run in
real-time, be compact, require a minimum amount of
power, and be standardized and flexible enough to
work on a variety of existing and future
platforms. The system must be able to follow
general guidance, as opposed to needing detailed
commands, from the operator. The system must
be able to detect and avoid obvious
obstacles. The system must also have minimal
electro-magnetic signature so as to be less likely
to be detected and less likely to interfere with
other systems.
This research looks at
the autonomous micro-hUAV being developed at the
Robotic Vision Lab (RVL) at Brigham Young
University (BYU). Specifically we focus on
the four-rotor micro-helicopter platform and the
embedded vision system design. Our research focus
is not in developing the underlying helicopter
technology or control, so much as it is in
developing a vision system to be used primarily on
a hUAV and on other space or weight restrained
applications.
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Graduate Students:
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Aaron Dennis, Spencer Fowers, Kirt
Lillywhite, and Beau Tippetts
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Publications:
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K.D. Lillywhite, D.J. Lee, B.J.
Tippetts, S.G. Fowers, A.W.
Dennis, B.E. Nelson, and J.K.
Archibald, “An Embedded Vision System for
an Unmanned Four-rotor Helicopter”, SPIE
Optics East, Intelligent Robots and Computer
Vision XXIV: Algorithms, Techniques, and
Active Vision, vol. 6384-24, 63840G, Boston,
MA, USA, October 1-4, 2006.
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(Click
image to view.)
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