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Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR)

Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR). Computational Mechanics and Robotics ARC Centre of Excellence in Autonomous Systems The University of New South Wales Australia. Content. Conceptual solution Overall System Architecture MAV

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Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR)

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  1. Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR) Computational Mechanics and Robotics ARC Centre of Excellence in Autonomous Systems The University of New South Wales Australia Tomonari Furukawa

  2. Content • Conceptual solution • Overall System Architecture • MAV • Propulsion and lift system • Guidance, Navigation and Control • Flight termination system and Safety • UGV • Electronic • Mechanical • BS • Man/Machine Interface • Path Planning • Conclusion & Future Work MAVSTAR, UNSW, AU

  3. Conceptual Solution • 4 Remote control MAVs • 4 Autonomous UGVs • BS • Strategy: • 1 MAV takes off from the IP • 2 MAVs are carried by UGV • 1 MAV stays in IP • MAV tasks: • Search and locate for obstacles, mines, guard and hostage • Search, locate and defuse mines and locate hostage • UGV tasks: • Relay MAVs’ signals • Search and locate obstacles, guard and hostage • Deactivate mines

  4. Overall System Architecture • Communication between MAV and BS: • Direct (LoS, >1km) • Relay (NLoS) • Developed GUI: • Sensor monitoring • Human-in-the-loop control • Kill Switch Video: 1.2, 1.5 and 5.8 GHz Data: 2.4 GHz Radio Frequency Interference (RFI) MAVSTAR, UNSW, AU

  5. MAVPlatform Flybar • Fully custom-made • Low cost (US$500) • Carbon blades • 4 plies • 45deg/0deg/0deg/45deg IMU • Carbon frames • 3 plies • 0deg/90deg/0deg GPS Camera Ultrasonic sensor Battery Video Transmitter

  6. MAV: Propulsion and lift system • Coaxial helicopter • 2 brushless motors for height and yaw control • 2 servos for pitch and roll control • Advantages: • Fit within 30cm sphere • High lift force (455g) for all sensors • 12-14 minutes flight time • Stable in indoor and outdoor environments (Wind speed up to 20km/h) MAVSTAR, UNSW, AU

  7. Indoor and Outdoor Performance Indoor flight Outdoor flight Indoor flight Outdoor flight

  8. Guidance, Navigation and Control • Sensors • Control Sensor: 2 axis accelerometer, 1 axis gyro • Navigation: GPS, compass, ultrasonic • Mission and obstacle avoidance: CCD camera (Range: >1km) • Manual remote control • Base on real-time video image • Have all sensors for autonomouscontrol later • Minimize the on-board computation MAVSTAR, UNSW, AU

  9. Sensing Capability Camera view during flight

  10. Flight termination system and Safety • Flight termination: • Dangerous to people • Kill switch in BS is activated • Kill command is sent to MAV • Lost communication • Hover in first 2s • After 2s, land using Ultrasonic Range Finder MAVSTAR, UNSW, AU

  11. UGV: Mechanical • Custom-made frame • 4WD • Off-road capability • Able to climb steps • 14km/h • 1 hour run time • Directional Microphone • Hostage Detection MAVSTAR, UNSW, AU

  12. UGV: Mechanical • Custom-made frame • 4WD • Off-road capability • Able to climb steps • 14km/h • 1 hour run time • Directional Microphone • Hostage Detection • Launching Mechanism • Power Saving MAVSTAR, UNSW, AU

  13. UGV: Electronic • Navigation Sensors: GPS, Compass, Accelerometers • Collision Avoidance: CCD camera, Ultrasonic Range Finder • Mission Sensors (for Mine and Hostage): • CCD camera, Directional Microphone • Autonomous Control for 4 UGVs • 1 Crew member • Monitor and override control if necessary • Update waypoints if necessary • Repeater for MAVs’ video and data signals • For MAVs in NLoS condition MAVSTAR, UNSW, AU

  14. BS: Man/Machine Interface Server Controller Monitor UGV UGV UGV UGV MAV MAV MAV MAV Comm Comm Comm Controller Controller Controller Data server Data server Data server Data server MONITOR MAV MONITOR MAV MONITOR UGV Data flow • Distributed Server-Client Model for sharing • information • Scalability for multiple/heterogeneous MAV/UGV coordination • Rich computational resources • (rapid prototyping/testing purpose) • Multiple operators MAVSTAR, UNSW, AU

  15. BS: Path Planning NLOS GV • Location of the guard (SAT MAV) • The system suggests the path to get close to the building with Search-And-Tracking MAV information. • Non-Line of Sight (NLoS) from the guard • Non-Line of Sight estimator utilizes a priori knowledge to find “Safe Zone”. • Path finder • Theoretically, it is guaranteed that the system provides a path from the entry point to the building if there is a path. Search space: 500x500 grids 0.53sec for the initial search by Pentium-M 1.1GHz processor MAVSTAR, UNSW, AU

  16. Conclusion • Conclusions: • 4 MAVs, 4 UGVs and BS • Rotary-wing MAV with coaxial setup fits within 30cm sphere • High lift force, Stable in indoor and outdoor, long flight time • Autonomous control for UGVs and Manual control for MAVs MAVSTAR, UNSW, AU

  17. Future Work – Coordinated Information-theoretic Search and Tracking Coordinated information-theoretic SAT Real-time information-theoretic SAT Coordinated information-theoretic SAT Real-time information-theoretic SAT

  18. Future Work – Continuous Outdoor and Indoor Localization

  19. Acknowledgements Air Force Office of Scientific Research (AFOSR) Air Force Research Lab (AFRL) DSTO Defence Science and Technology Organisation MAVSTAR, UNSW, AU

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