Rose-Hulman Institute of Technology's Autonomous Helicopter for the 2000 International Aerial Robotics Competition

摘要

The Rose-Hulman Aerial Robotics Vehicle has undergone considerable redesign and improvement since the 1999 AUVS International Aerial Robotics Competition (IARC). The fuzzy logic controllers have been expanded to react to various hardware failures and to include more flight modes, such as takeoff and landing. A new telemetry system allows the user to select the operating parameters to log without recompiling. Several sensors have been upgraded to save weight and provide better data. The new sensors operate at a higher rate, allowing filters to be designed for the frequencies of noise occurring. Custom-made circuit boards have been redesigned to take advantage of the upgraded sensors. A new scheme for mounting the hardware to the helicopter has been implemented that reduced the weight of the vehicle by upwards of 4 pounds. Barrel, label, and fire imaging algorithms have been designed and proven to work with an incoming video stream. This combination of hardware, software, and imaging allows the 2000 Rose-Hulman Aerial Robotics Vehicle to complete its mission.