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2010
Conference Paper
Titel
Conceptual hybrid micro aerial vehicle with vector thrust and automatic target recognition system for both indoor and outdoor operation
Abstract
Micro aerial vehicles (MAV) are considered to operate in an urban environment, where flyable space is limited and maneuverability is required. In excess indoor operation might be required too for an inspection mission which is difficult to be achieved with a fixed wing MAV due to the higher speed when compared to a rotary wing MAV. However the fixed wing operation may become a must if the indoor target is sufficiently far away and endurance becomes an issue. Furthermore stability of an image taken may not be promoted by vibrations caused from a rotary wing MAV. To solve the problem as well as enhancing an MAV's performance in urban missions, a conceptual hybrid micro vehicle has been created. Using a system of systems and modular design approach, a bio-inspired ground vehicle with rotary "legs" has been designed. This vehicle is able to walk on a variety of different terrains, cross obstacles and operate and able to communicate same ground station with MAV flying around. The ground vehicle and the MAV both share the same type of autopilot, camera system, fuselage and possibly others. The MAV has been further equipped with the walking features of the ground vehicle and a 2DOF vector thrust option for super-maneuverability in the air and ground jump take off capability, hence creating a hybrid vehicle. Based on a color pattern, a low weight and cost target recognition system has been designed and realized using off-the-shelf components. This has been done in combination with a laser range finder which detect the distance from target and automatically adjust the parameters for target recognition allowing workload of the operator during an indoor inspection mission to be decreased. Each of the systems, ground as well as aerial, has been validated in experimentation, first in a single mode.