Design and Flight Demonstration of a Quadrotor for Urban Mapping and Target Tracking Research

Autor:	Hague, Collin, Kakavitsas, Nick, Zhang, Jincheng, Beam, Chris, Willis, Andrew, Wolek, Artur
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Computer Vision and Pattern Recognition Electrical Engineering and Systems Science - Systems and Control
Zdroj:	SoutheastCon 2024, 559-564
Druh dokumentu:	Working Paper
DOI:	10.1109/SoutheastCon52093.2024.10500131
Popis:	This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of fisheye stereo cameras that enable a nearly omnidirectional view and a two-axis gimbaled camera. An onboard NVIDIA Jetson Orin Nano computer running the Robot Operating System software is used for data collection. An autonomous tracking behavior was implemented to coordinate the motion of the quadrotor and gimbaled camera to track a moving GPS coordinate. The data collection system was demonstrated through a flight test that tracked a moving GPS-tagged vehicle through a series of roads and parking lots. A map of the environment was reconstructed from the collected images using the Direct Sparse Odometry (DSO) algorithm. The performance of the quadrotor was also characterized by acoustic noise, communication range, battery voltage in hover, and maximum speed tests. Comment: 7 pages, 10 figures, To be presented at IEEE SoutheastCon 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2402.13195 Zobrazit plný text záznamu View this record from Arxiv