Core Concepts
Quadrotor design for urban mapping and target tracking research.
Abstract
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.
Stats
The UAV has an endurance of 11 minutes.
The top speed achieved during testing was 20 m/s.
Communication range varied from -40 dBm to -90 dBm for the transmitter.
The radio modem had the longest range of communication up to 500m.
Quotes
"The platform is equipped with five cameras, including two pairs of fisheye stereo cameras that enable a nearly omnidirectional view."
"Real-time processing demands high-performance computing hardware."
"The anticipated operating environment drives sensor selection."