This paper details the hardware design and flight demonstration of a quadrotor equipped with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The quadrotor features five cameras, including fisheye stereo cameras and a gimbaled camera, controlled by an NVIDIA Jetson Orin Nano computer. An autonomous tracking behavior was implemented to track moving GPS coordinates during a flight test. The quadrotor's performance was assessed through various tests such as acoustic noise, communication range, battery voltage in hover, and maximum speed. The paper highlights the importance of perception algorithms, sensor selection, high-performance computing hardware, and robust interfaces for successful urban UAV flight.
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by Collin Hague... a las arxiv.org 03-19-2024
https://arxiv.org/pdf/2402.13195.pdfConsultas más profundas