Autonomous Cargo Transport System for an Unmanned Aerial Vehicle, using Visual Servoing
Noah Kuntz, Paul Oh
This paper presents the design and testing of a system for
autonomous tracking, pickup, and delivery of cargo via an
unmanned helicopter. The tracking system uses a visual
servoing algorithm and is tested using open loop velocity
control of a six degree of freedom gantry system with a
camera mounted via a pan-tilt unit on the end effecter. The
pickup system uses vision to direct the camera pan tilt unit
to track the target, and uses a hook attached to a second
pan tilt unit to pick up the cargo. The ability of the pickup
system to hook a target is tested by mounting it on the
Systems Integrated Sensor Test Rig gantry system while
recorded helicopter velocities are played back by the test
rig. Full Text
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