Closely Supervised Reactive Control of an Uninhabited Aerial Vehicle
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Currently, control of an uninhabited aerial vehicle (UAV) in flight is accomplished by manual control of a prior prescription of waypoints. The use of waypoints requires knowledge of vehicle position from either an Internal Navigation System (INS) or by using the Global Positioning System (GPS). This thesis proposes an alternative control method that incorporates some of the beneficial aspect of both fully manual and fully autonomous operation. Utilizing an on-board camera, an operator can control an uninhabited aerial vehicle by manually choosing desired targets of interest. The flight path o...
Currently, control of an uninhabited aerial vehicle (UAV) in flight is accomplished by manual control of a prior prescription of waypoints. The use of waypoints requires knowledge of vehicle position from either an Internal Navigation System (INS) or by using the Global Positioning System (GPS). This thesis proposes an alternative control method that incorporates some of the beneficial aspect of both fully manual and fully autonomous operation. Utilizing an on-board camera, an operator can control an uninhabited aerial vehicle by manually choosing desired targets of interest. The flight path of the uninhabited vehicle is determined autonomously from the camera gimbal angles. Specifically, the camera azimuth angle and elevation angle are transformed by an autopilot, providing commands to the aircraft. In this shared control operation, the operator of the payload (i.e. camera), has close supervision of the aircraft.The aircraft using an on-board computer is given autonomous control of aircraft flight, reducing personnel requirements. This work has been selected by scholars as being culturally important, and is part of the knowledge base of civilization as we know it. This work was reproduced from the original artifact, and remains as true to the original work as possible. Therefore, you will see the original copyright references, library stamps (as most of these works have been housed in our most important libraries around the world), and other notations in the work. This work is in the public domain in the United States of America, and possibly other nations. Within the United States, you may freely copy and distribute this work, as no entity (individual or corporate) has a copyright on the body of the work. As a reproduction of a historical artifact, this work may contain missing or blurred pages, poor pictures, errant marks, etc. Scholars believe, and we concur, that this work is important enough to be preserved, reproduced, and made generally available to the public. We appreciate your support of the preservation process, and thank you for being an important part of keeping this knowledge alive and relevant.
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