Design and Development of Micro Aerial Vehicles and Their Cooperative Systems for Target Search and Tracking (original) (raw)
2009, International Journal of Micro Air Vehicles
This paper presents Micro Aerial Vehicles (MAVs) and their cooperative systems including Unmanned Ground Vehicles (UGVs) and a Base Station (BS), which were primarily designed for the 1st US-Asian Demonstration and Assessment on Micro-Aerial and Unmanned Ground Vehicle Technology (MAV08). The MAVs are of coaxial design, which imparts mechanical stability both outdoor and indoor while obeying a 30 cm size constraint. They have carbon fibre frames for weight reduction allowing microcontrollers and various sensors to be mounted on-board for tele-operated and waypoint control. The UGVs are similarly equipped to perform their own search and tracking mission but also to support the MAVs by relaying data between the MAVs and the BS when they are out of direct range. The BS monitors the vehicles and their environment and navigates them autonomously or with humans in the loop through the developed GUI. The ability of the MAV in flight was demonstrated by showing continuous hovering. The effi...
Related papers
This paper presents a team of Micro Aerial Vehicles (MAVs) and Unmanned Ground Vehicles (UGVs) which are controlled and monitored by a Base Station (BS). The MAVs are of coaxial design which imparts mechanical stability both outdoor and indoor while obeying a 30cm size constraint. They have carbon fiber frames for weight reduction allowing sensors and microcontrollers to be mounted on‐board for low level control. Localization and obstacle avoidance are achieved using an on‐board GPS receiver, digital compass and colour camera. The UGVs are similarly equipped but also carry directional microphones to assist in detection of guards and hostages when visual information is inadequate. The BS monitors the vehicles and their environment and navigates them autonomously or with humans in the loop through the developed GUI. The initial goal of the project is the demonstration and assessment of the developed systems at MAV08. Following the demonstration, the systems will be used to demonstrate...
Opportunities and challenges with autonomous micro aerial vehicles
We survey the recent work on micro unmanned aerial vehicles (UAVs), a fast-growing field in robotics, outlining the opportunities for research and applications, along with the scientific and technological challenges. Micro-UAVs can operate in three-dimensional environments, explore and map multi-story buildings, manipulate and transport objects, and even perform such tasks as assembly. While fixed-base industrial robots were the main focus in the first two decades of robotics, and mobile robots enabled most of the significant advances during the next two decades, it is likely that UAVs, and particularly micro-UAVs, will provide a major impetus for the next phase of education, research, and development.
Systematic Design and Implementation of a Micro Unmanned Quadrotor System
Unmanned Systems, 2014
This paper presents a guideline to systematically design and construct a micro quadrotor unmanned aerial vehicle (UAV), capable of autonomous flight. The designed micro UAV has a gross weight of less than 40 g including power supply sufficient for an 8-min flight. The design is divided into three parts. First, investigation is made on the structural design of a conventional quadrotor. The quadrotor frame is then carefully designed to avoid any potential structural natural frequencies within the range of rotors operating speeds, based on simulation results obtained from MSC Nastran. Second, avionic system of the aircraft will be discussed in detail, mainly focusing on the design of printed circuit boards which include sensors, microprocessors and four electronic speed controllers, specially catered for micro quadrotor design. Last, a mathematical model for the micro quadrotor is derived based on Newton–Euler formalism, followed by methods of identifying the parameters. The flight tes...
Loading Preview
Sorry, preview is currently unavailable. You can download the paper by clicking the button above.