Abstract
ABSTRACT The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. Thisentry represents a combination of many technology areas: navigation, guidance, control, vision processing, humanfactors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor convertsthe image data into target position and classification estimates. The system was designed, built, and flown in lessthan one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. Inan appendix, our current research in augmenting the navigation system with vision-based estimates is presented.Keywords: Autonomous helicopter, robot contest, vision-based navigation
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