Search and Rescue using Unmanned Aerial Vehicles

摘要

This paper presents the work being done at Cal Poly Pomona on using UAVs for search and rescue missions. A Sig Kadet Senior UAV airplane has been equipped with an autopilot for autonomous waypoint operation and a camera for target identification. OpenCV software was used for image processing, segmentation, and for identifying objects of interest. In order to provide targeted aerial assistance, an autonomous payload delivery algorithm was developed. A flight management computer and drop mechanism has been integrated into the UAV. A payload delivery algorithm was programmed onto the flight management computer and linked to the drop mechanism. The flight management computer received telemetry from the autopilot as inputs to the payload drop algorithm to determine the position of the target relative to the aircraft. The algorithm calculates the release point before triggering a payload release.