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Articles 1 - 5 of 5
Full-Text Articles in Mechanical Engineering
Vision-Based Precision Landings Of A Tailsitter Uav, Paul Travis Millet
Vision-Based Precision Landings Of A Tailsitter Uav, Paul Travis Millet
Theses and Dissertations
We present a method of performing precision landings of a vertical take-off and landing (VTOL) unmanned air vehicle (UAV) with the use of an onboard vision sensor and information about the aircraft's orientation and altitude above ground level (AGL). A method for calculating the 3-dimensional location of the UAV relative to a ground target of interest is presented as well as a navigational controller to position the UAV above the target. A method is also presented to prevent the UAV from moving in a way that will cause the ground target of interest to go out of view of the …
Haptic Collision Avoidance For A Remotely Operated Quadrotor Uav In Indoor Environments, Adam M. Brandt
Haptic Collision Avoidance For A Remotely Operated Quadrotor Uav In Indoor Environments, Adam M. Brandt
Theses and Dissertations
A quadrotor is an omnidirectional unmanned air vehicle that is suitable for indoor flight because of its ability to hover and maneuver in confined spaces. The remote operation of this type of vehicle is difficult due to a lack of sensory perception; typically, the view from the onboard camera is the only information transmitted to the pilot. This thesis proposes using force feedback exerted by the command input device on the hand of the pilot to assist in avoiding collisions while navigating in indoor environments. Five candidate algorithms are presented for calculating the forces to be felt by the pilot …
Performance Flight Testing Of Small Electric Powered Unmanned Aerial Vehicles, Jon N. Ostler, W. Jerry Bowman, Deryl O. Snyder, Timothy W. Mclain
Performance Flight Testing Of Small Electric Powered Unmanned Aerial Vehicles, Jon N. Ostler, W. Jerry Bowman, Deryl O. Snyder, Timothy W. Mclain
Faculty Publications
Flight testing methods are developed to find the drag polar for small unmanned aerial vehicles powered by electric motors with fixed-pitch propellers. Wind tunnel testing was used to characterize the propeller-motor efficiency. The drag polar was constructed using data from flight tests. This drag polar was then used to find the following performance parameters: maximum velocity, minimum velocity, velocity for maximum range, velocity for maximum endurance, maximum rate of climb, maximum climb angle, minimum turn radius, maximum turn rate, and maximum bank angle. The developed flight testing methods are used to characterize the performance of a small UAV.
Dynamics And Control Of Cable-Drogue System In Aerial Recovery Of Micro Air Vehicles Based On Gauss's Principle, Liang Sun, Randal W. Beard, Mark B. Colton, Timothy W. Mclain
Dynamics And Control Of Cable-Drogue System In Aerial Recovery Of Micro Air Vehicles Based On Gauss's Principle, Liang Sun, Randal W. Beard, Mark B. Colton, Timothy W. Mclain
Faculty Publications
This paper presents a new concept for aerial recovery of Micro Air Vehicles (ARMAVs) using a large mothership and a recovery drogue. The mothership drags a drogue attached to a cable and the drogue is controlled to match the flight patten of the MAV. This paper uses Gauss’s Principle to derive the dynamic model of the cable-drogue systems. A controllable drogue plays a key role in recovering MAVs in windy conditions. We develop a control approach for the drogue using its drag coefficient. Simulation results based on multilink cable-drogue systems present the feasibility of the aerial recovery concept and the …
Payload Directed Flight Of Miniature Air Vehicles, Randal W. Beard, Clark Taylor, Jeff Saunders, Ryan Holt, Timothy W. Mclain
Payload Directed Flight Of Miniature Air Vehicles, Randal W. Beard, Clark Taylor, Jeff Saunders, Ryan Holt, Timothy W. Mclain
Faculty Publications
This paper describes three applications of payload directed flight using miniature air vehicles: vision-based road following, vision-based target tracking, and vision-based mapping. A general overview of each application is given, followed by simulation and flight-test results. Results demonstrate the viability of utilizing electo-optical video imagery to directly control the air vehicle flight path to enhance performance relative to the sensing objective.