Physical Sciences and Mathematics Commons^™

A Modular Onboard Processing System For Small Unmanned Vehicles, Richard D. Garcia

USF Tampa Graduate Theses and Dissertations

This work describes the design and implementation of a generic lightweight onboard processing system for miniature Unmanned Vehicles (UVs) that is computationally powerful and highly adaptable. First, several classical approaches to giant scale and full size UV onboard processing systems are described along with their corresponding limitations. Second, a detailed study is presented that describes the key characteristics of an onboard system along with associated limitations. Next, an implementation of a generic onboard system capable of vision processing and servo based control is presented along with detailed hardware specifications and implementation software. Last, experimental data, both laboratory and field, are …