Autonomous Cargo Transport System for an Unmanned Aerial Vehicle, using Visual Servoing. Noah Kuntz and Paul Oh Drexel Autonomous Systems Laboratory Drexel University, Philadelphia, PA. Motivation. Helicopter cargo transport using allows delivery of payload to otherwise unreachable areas.
Noah Kuntz and Paul Oh
Drexel Autonomous Systems Laboratory
Drexel University, Philadelphia, PA
Helicopter cargo transport using allows delivery of payload to otherwise unreachable areas
UAVs CAN FIX THIS!
Pictures source: http://www.mccoy.army.mil/ReadingRoom/Triad/06112004/Sling-load%20Sinai.htm
Left picture source: http://robotgossip.blogspot.com/2006/01/bombot-to-be-built-in-west-virginia.html
SR-100 platform proves capable
Actuated Hook Wins for Unmanned Heli
GPS Waypoint Navigation Vehicle, using
3Concept of Operations
SR-100 is capable of Autonomous takeoff.
When criteria are met for proximity to the target, the hook is servoed through the target loop.
Autonomous hovering and GPS waypoint navigation is integral to the SR-100’s control package.
Tracking is performed with visual servoing using onboard camera and computer.
GPS Waypoint Navigation
The cargo will then be lifted off the ground.
GPS navigation will occur again.
The cargo will be set on the ground and the hook retracted.
Sponsored by the National Science Foundation
SISTR replicates flight movements
Simple tracking for low computation / high speed
Gantry replays recorded helicopter velocities
Target is placed in each of nine positions within 20 cm (GPS accuracy) from ideal