MAV08, Agra, India Tomonari Furukawa 1 Micro Aerial Vehicles for Search, Tracking and Reconnaissance...
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![Page 1: MAV08, Agra, India Tomonari Furukawa 1 Micro Aerial Vehicles for Search, Tracking and Reconnaissance (MAVSTAR) Computational Mechanics and Robotics ARC.](https://reader030.fdocuments.us/reader030/viewer/2022032313/56649e715503460f94b6fc54/html5/thumbnails/1.jpg)
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
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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
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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
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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
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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
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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)
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MAV08, Agra, India
Indoor and Outdoor Performance
Indoor flight
Indoor flight
Outdoor flight
Outdoor flight
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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)
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MAV08, Agra, India
Sensing Capability
Camera view during flight
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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
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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
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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
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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
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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
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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
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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
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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
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MAV08, Agra, India
Future Work – Continuous Outdoor and Indoor Localization
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MAV08, Agra, India MAVSTAR, UNSW, AU19
Acknowledgements
Air Force Office of Scientific Research (AFOSR)
Air Force Research Lab (AFRL)
DSTODefence Science and Technology Organisation