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Autonomous Cargo Transport System for an Unmanned Aerial Vehicle, using Visual Servoing

Author(s): Noah Kuntz | Paul Oh

Journal: Journal of Systemics, Cybernetics and Informatics
ISSN 1690-4532

Volume: 7;
Issue: 6;
Start page: 41;
Date: 2009;
Original page

This paper presents the design and testing of a system for autonomous tracking, pickup, and delivery of cargo via an unmanned helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a six degree of freedom gantry system with a camera mounted via a pan-tilt unit on the end effecter. The pickup system uses vision to direct the camera pan tilt unit to track the target, and uses a hook attached to a second pan tilt unit to pick up the cargo. The ability of the pickup system to hook a target is tested by mounting it on the Systems Integrated Sensor Test Rig gantry system while recorded helicopter velocities are played back by the test rig.
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