Most recent work accepted at IROS 2009, St. Louis, MO. October 2009 -
A Scaled Environment for Testing Unmanned Aerial Vehicle Missions
Keith Sevcik, PhD Candidate
To address this problem, we propose a scaled down urban environment. The scaled environment is surrounded by a 6 DOF gantry to which the sensor suite can be attached. By programming the gantry to mimic the aircraft flight dynamics, contr4ol algorithms can be tested against real sensor input. Testing and evaluation (T&E) can then be performed on control algorithms before flight. To verify and validate (V&V) results, and SR100 robotic helicopter can be flown in the full scale environment at the Piasecki Aircraft airfield.
The lack of fully integrated UAV testing in realistic mission conditions results in ad-hoc tests with mixed results. To address this issue, we seek to design a testing environment that accurately represents a real-world flight test. The goals of this project are to:
Success in these goals will provide the robotics community with a comprehensive method for designing UAV’s, opening up previously expensive/dangerous research directions.
Keith W. Sevcik and Paul Y. Oh, “Testing Unmanned Aerial Vehicle Missions in a Scaled Environment”, Journal of Intelligent Robot Systems, June 2008.
Contact: Prof. Paul Oh, Director, Drexel Autonomous Systems Lab, Email: email@example.com