Object Retrieval from Secure Unknown Interior Spaces Using Autonomous Unmanned Aerial Vehicles

Authors

John LeVous, Old Dominion University
Julie Hoven, Old Dominion University
Victor Habgood, Old Dominion University
Abdulrahman Alotaibi, Old Dominion University
Brandon Ordway, Old Dominion University
Garibe Mohammed-Jones, Old Dominion University
Haole Guo, Old Dominion University
Filip Cuckov, Old Dominion University
Chung-Hao Chen, Old Dominion UniversityFollow

Document Type

Conference Paper

Publication Date

2012

Publication Title

2012 International Aerial Robotics Competition Symposium, Grand Forks, North Dakota, U.S.A. and Beijing, PRC

Pages

12 pp.

Conference Name

2012 International Aerial Robotics Competition Symposium, Grand Forks, North Dakota, U.S.A. and Beijing, PRC, August, 2012, Grand Forks, ND and Beijing, PRC

Abstract

This paper describes an autonomous unmanned aerial vehicle (UAV) designed to participate in the 23rd annual International Aerial Robotics Competition. The UAV is equipped with onboard sensors and a Harvard architecture 8-bit RISC microcontroller to monitor and locally control its flight telemetry. Additional sensors (and an additional microcontroller) are used for detecting and mapping of structural and environmental objects while the UAV is in flight. The microcontrollers are interfaced with wireless communication modules for transmitting flight telemetry and structural/environmental data to a ground control station that sends the UAV command and control signals required for the mission objectives. The UAV platform is built upon a quad-rotor helicopter (quad-copter) design that utilizes open-sourced hardware and software, and is equipped with hobby grade sensors, actuators, vision systems, and wireless communication components thereby reducing the cost of UAV research by an order of magnitude.

Comments

Link to publisher landing page: http://aerialroboticscompetition.org/symposia.php

Rights

© 2012 International Aerial Robotics Competition. All rights reserved.

Included with the kind written permission of the copyright holders.

Original Publication Citation

LeVous, J., Hoven, J., Habgood, V., Alotaibi, A., Ordway, B., Mohammed-Jones, G., Cuckov, F., & Chen, C.-H. (2012). Object retrieval from secure unknown interior spaces using autonomous unmanned aerial vehicles [Paper presentation]. 2012 International Aerial Robotics Competition Symposium, Grand Forks, North Dakota, U.S.A. and Beijing, PRC. http://aerialroboticscompetition.org/assets/downloads/2012SymposiumPapers/2012OldDomion.pdf

Repository Citation

LeVous, John; Hoven, Julie; Habgood, Victor; Alotaibi, Abdulrahman; Ordway, Brandon; Mohammed-Jones, Garibe; Guo, Haole; Cuckov, Filip; and Chen, Chung-Hao, "Object Retrieval from Secure Unknown Interior Spaces Using Autonomous Unmanned Aerial Vehicles" (2012). Electrical & Computer Engineering Faculty Publications. 535.
https://digitalcommons.odu.edu/ece_fac_pubs/535

ORCID

0000-0002-4860-9187 (Chen)