Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR)
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Transcript of Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR)
MAV08, Agra, India Tomonari Furukawa1
Micro Aerial Vehicles for Search, Tracking and Reconnaissance
(MAVSTAR)
Computational Mechanics and RoboticsARC Centre of Excellence in Autonomous
SystemsThe University of New South Wales
Australia
MAV08, Agra, India
Content
Conceptual solutionOverall System ArchitectureMAV
Propulsion and lift systemGuidance, Navigation and ControlFlight termination system and Safety
UGVElectronicMechanical
BSMan/Machine InterfacePath Planning
Conclusion & Future Work
MAVSTAR, UNSW, AU2
MAV08, Agra, India
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
MAV08, Agra, India
Overall System Architecture
Communication between MAV and BS:
1.Direct (LoS, >1km)
2.Relay (NLoS)
Video: 1.2, 1.5 and 5.8 GHz
Data: 2.4 GHz
Radio Frequency Interference (RFI)
MAVSTAR, UNSW, AU
Developed GUI:
Sensor monitoring
Human-in-the-loop control
Kill Switch
MAV08, Agra, India
MAV Platform
Carbon blades•4 plies•45deg/0deg/0deg/45deg
Carbon frames•3 plies•0deg/90deg/0deg
•Fully custom-made•Low cost (US$500)
Camera
Battery Ultrasonic sensor
GPS
Video Transmitter
IMU
Flybar
MAV08, Agra, India
MAV: Propulsion and lift system
MAVSTAR, UNSW, AU6
• 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)
MAV08, Agra, India
Indoor and Outdoor Performance
Indoor flight
Indoor flight
Outdoor flight
Outdoor flight
MAV08, Agra, India MAVSTAR, UNSW, AU8
Guidance, Navigation and Control
• Manual remote control• Base on real-time video image• Have all sensors for autonomous control later• Minimize the on-board computation
• Sensors• Control Sensor: 2 axis accelerometer, 1 axis gyro• Navigation: GPS, compass, ultrasonic• Mission and obstacle avoidance: CCD camera (Range: >1km)
MAV08, Agra, India
Sensing Capability
Camera view during flight
MAV08, Agra, India MAVSTAR, UNSW, AU10
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
MAV08, Agra, India MAVSTAR, UNSW, AU11
UGV: Mechanical
• Custom-made frame
4WD
Off-road capability
Able to climb steps
• 14km/h
• 1 hour run time
• Directional Microphone
Hostage Detection
MAV08, Agra, India MAVSTAR, UNSW, AU12
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
MAV08, Agra, India MAVSTAR, UNSW, AU13
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 necessaryUpdate waypoints if necessary
• Repeater for MAVs’ video and data signals For MAVs in NLoS condition
MAV08, Agra, India MAVSTAR, UNSW, AU14
BS: Man/Machine Interface
MonitorMonitor
ServerServer
ControllerController
Comm
ControllerController ControllerController ControllerController
Data server
MONITORMAV
MONITORMAV
Comm Comm
MONITORMAV
MONITORMAV
MONITORUGV
MONITORUGV
UGVUGVUGVUGV UGVUGV UGVUGV MAVMAV MAVMAV
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
Data serverData server
Data server
MAV08, Agra, India MAVSTAR, UNSW, AU15
BS: Path Planning
GV
NLOS
• 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 grids0.53sec for the initial search by Pentium-M 1.1GHz processor
MAV08, Agra, India
Conclusion
MAVSTAR, UNSW, AU16
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
MAV08, Agra, India
Future Work – Coordinated Information-theoretic Search and Tracking
Coordinated information-theoretic SAT
Coordinated information-theoretic SAT
Real-time information-theoretic SAT
Real-time information-theoretic SAT
MAV08, Agra, India
Future Work – Continuous Outdoor and Indoor Localization
MAV08, Agra, India MAVSTAR, UNSW, AU19
Acknowledgements
Air Force Office of Scientific Research (AFOSR)
Air Force Research Lab (AFRL)
DSTODefence Science and Technology Organisation