1、Autonomous Air & Ground Surveillance Unit,Objectives, Preliminary Specifications, and Option Analysis,Design Objectives,Extend autonomous flight capabilities of a Rotomotion helicopter to include: The ability to determine landing zone suitability based on terrain Tracking of UGVs Develop UGV transpo
2、rt system: Design landing gear with storage area for 3 UGVs Develop capabilities necessary to securely load and unload UGVs autonomously Develop UGVs and control system: Design lightweight UGVs with GPS waypoint navigation and video uplink Develop capability to safely drive into helicopter cargo bay
3、,Final Demo Objective Procedure,UGVs load onto UAV UAV takes off and fly to GPS waypoint UAV determines safe landing zone and lands UGVs unload UGVs navigate to GPS waypoints and provide video surveillance UAV takes off and provides further surveillance in the air UGVs return to landing zone UAV loc
4、ates UGVs and lands near them UGVs load onto UAV UAV take offs and flys back to initial launch zone UAV determines safe landing zone and lands UGVs unload,Goal: All steps fully autonomous,UGV Specifications,Low enough weight to fit 3 on the SR-20 (max payload 10 lb) Capable of GPS waypoint navigatio
5、n with no external control Onboard wireless camera for surveillance and visual servoing into helicopter cargo bay Capable of drive-by-wire by autonomous remote unit based on video feed (for visual servoing during loading and unloading),UGV Cargo Bay Specifications,Bays for 3 UGVs Actuated wheel bloc
6、ks for security during flight LED targets to guide UGVs into their bays,Cable Suspended Payload vs Integrated Into Landing Gear,SR-20 vs SR-100,Conclusions,Payload Mechanism: If simplicity is the primary concern, a landing gear integrated bay is the desired mechanism Cable suspended payload provides
7、 more flexibility at the cost of weight and complexity, if the weight of the cable suspension mechanism can be tolerated, and oscillations during use minimized, suspended payload is the desired mechanismVehicle: SR-20 is the desired platform if weight can be sufficiently minimized If high payload ca
8、pacity is required, SR-100 is the desired platform, but it requires more significant modifications and monetary risk,Path Forward,Test SR-20 payload capacity Design and build prototype UGV and controller Based on UGV characteristics, design and build UAV cargo bay Extend UAV and UGV capabilities Integrate UAV and UGV systems,
