unmanned aerial vehicles - uni-hamburg.de · 3 de nition general information usage overview of uavs...

Unmanned Aerial Vehicles

Jessica Jobski

Universitat HamburgFakultat fur Mathematik, Informatik und Naturwissenschaften

Department InformatikIntegriertes Seminar Intelligent Robotics ’10

10. Juni 2010

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DefinitionGeneral information

UsageOverview of UAVs

Challenges

Outline

1 Definition

2 General informationTypical goals

3 UsageMilitary useCivil use

4 Overview of UAVs

5 ChallengesChallenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future

J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles

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Challenges

Definition

• An unmanned aerial vehicle(UAV) is an aircraft thatflies without a humancrew on board the aircraft.

• UAVs can be distinguished inremotely piloted aircrafts(drones) and autonomousflying aircrafts.

Bwe will focus on the latter


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Challenges

Recalling: Size of UAVs


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Challenges

Typical goals

Typical goals

• Automatically start operation and takeoff.

• Fly to a designated area (on a prescribed path) whileavoiding obstacles.

• Search and locate object of interest in the designated area.

• Visually lock on to and track or, if necessary, pursue theobjects.

• Send back images to a ground station while tracking theobjects.

• Safely return and land.


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Challenges

Military useCivil use

Military use

• armed attacks

• reconnaissance andsurveillance

• transportation

Abbildung: 2010: Phantom Raystealth, first(?) unmanned fighter drone


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Challenges

Military useCivil use

Civil use

• remote sensing (biological, chemical, electromagnetic)

• aerial mapping/scientific research in dangerous areas

• scientific research on insect-like behaviour

• search and rescue (hurricanes, earthquakes)

• transportation


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Challenges

Overview of UAVs

• Rotary-wing

• Fixed-wing

• Blimps

• Other


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Challenges

Rotary-wing

• Carnegie MellonUniversity:AutonomousHelicopter Project

• research since 1991

• laserscanner,gpsreceiver

• Vision-based stabilityand control

• Autonomous takeoff,trajectory followingand landing

• Aerial mapping

• Object recognitionand manipulation [V]


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Challenges

Fixed-wing

• Brigham Young University MAGICC Lab

• research on multi-agent technologies [V]


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Challenges

Blimps


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Challenges

Other: Entomopter

• generates autonomic wing beating from a chemical source [V]J. Jobski 10. Juni 2010 - Unmanned Aerial Vehicles

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Challenges

Other: Micromechanical Flying Insect

The goal of themicromechanical flying insect (MFI) project is to develop a 25 mm(wingtip-to-wingtip) device capable of sustained autonomous flight.The MFI is designed based on biomimetic principles to capturesome of the exceptional flight performance achieved by true flies.


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Challenges

Challenges similar to land-based robotsChallenges specific to aerial vehiclesCategories for important technology in the future

Challenges similar to land-based robots

• Localization

• Path-Planning

• Collision-avoidance


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Challenges


Challenges specific to aerial vehicles

• Height above ground level

• Orientation of aircraft


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Challenges


Categories for important technology in the future I

• Sensor fusion: Combining information from different sensorsfor use on board the vehicle

• Communications: Handling communication and coordinationbetween multiple agents in the presence of incomplete andimperfect information

• Motion planning (also called Path planning): Determining anoptimal path for vehicle to go while meeting certain objectivesand constraints, such as obstacles


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Challenges


Categories for important technology in the future II

• Trajectory Generation: Determining an optimal controlmaneuver to take to follow a given path or to go from onelocation to another

• Task Allocation and Scheduling: Determining the optimaldistribution of tasks amongst a group of agents, with timeand equipment constraints

• Cooperative Tactics: Formulating an optimal sequence andspatial distribution of activities between agents in order tomaximize chance of success in any given mission scenario


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Challenges

The future?

Robots on Mars?


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Challenges

Thank you for your attention!


unmanned aerial vehicles - uni-hamburg.de · 3 de nition general information usage overview of uavs...

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