Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera

M. Quigley, M.A. Goodrich, S. Griffiths, A. Eldredge, R.W. Beard
Proceedings of the 2005 IEEE International Conference on Robotics and Automation  
Target acquisition and continuous surveillance using fixed-wing UAVs is a difficult task due to the many degrees of freedom inherent in aircraft and gimbaled cameras. Mini-UAVs further complicate the problem by introducing severe restrictions on the size and weight of electro-optical sensor assemblies. We present a field-tested mini-UAV gimbal mechanism and flightpath generation algorithm as well as a novel human-UAV interaction scheme in which the operator manually flies the UAV to produce an
more » ... UAV to produce an estimation of the target position, then allows the aircraft to fly itself and control the gimbal while the operator refines and moves the target position as required.
doi:10.1109/robot.2005.1570505 dblp:conf/icra/QuigleyGGEB05 fatcat:f6eony3ze5gh5gwkzsag3nq2q4