Conference proceeding
DEVELOPMENT OF AUTONOMOUS CARGO TRANSPORT FOR AN UNMANNED AERIAL VEHICLE USING VISUAL SERVOING
PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008, PTS A AND B, pp.407-414
01 Jan 2009
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
This paper presents the design and testing of systems for autonomous tracking, payload pickup, and deployment of cargo via a UAV helicopter The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a 3DOF gantry system with a camera mounted via a pan-tilt unit on the end effecter The pickup system uses vision to control the camera pan tilt unit as well as a second pan tilt unit with a hook mounted on the end of the arm. The ability of the pickup system to hook a tat-get is tested by, mounting it on the gantry while recorded helicopter velocities are played back by the gantry. A preliminary semi-autonomous deployment system is field tested, where a manually controlled RC truck is transported by a UAV helicopter under computer control that is manually directed to GPS waypoints using a ground station.
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Details
- Title
- DEVELOPMENT OF AUTONOMOUS CARGO TRANSPORT FOR AN UNMANNED AERIAL VEHICLE USING VISUAL SERVOING
- Creators
- Noah R. Kuntz - Drexel Univ, Dept Elect & Comp Engn, Drexel Autonomous Syst Lab, Philadelphia, PA 19104 USAPaul Y. OhASME
- Publication Details
- PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008, PTS A AND B, pp.407-414
- Conference
- ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008
- Publisher
- Amer Soc Mechanical Engineers
- Number of pages
- 8
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019350580204721
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InCites Highlights
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- Web of Science research areas
- Automation & Control Systems
- Engineering, Mechanical