Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 143-148, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-143-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
06 Sep 2012
AUTONOMOUS UNMANNED HELICOPTER SYSTEM FOR REMOTE SENSING MISSIONS IN UNKNOWN ENVIRONMENTS
T. Merz1 and S. Chapman2 1CSIRO ICT Centre, QCAT, 1 Technology Court, Pullenvale 4069 QLD, Australia
2CSIRO Plant Industry, QBP, 306 Carmody Road, St Lucia 4067 QLD, Australia
Keywords: Unmanned Aircraft Systems, Vegetation Monitoring, Infrastructure Inspection, Automation, Platforms, Robotics Abstract. This paper presents the design of an autonomous unmanned helicopter system for low-altitude remote sensing. The proposed concepts and methods are generic and not limited to a specific helicopter. The development was driven by the need for a dependable, modular, and affordable system with sufficient payload capacity suitable for both research and real-world deployment. The helicopter can be safely operated without a backup pilot in a contained area beyond visual range. This enables data collection in inaccessible or dangerous areas. Thanks to its terrain following and obstacle avoidance capability, the system does not require a priori information about terrain elevation and obstacles. Missions are specified in state diagrams and flight plans. We present performance characteristics of our system and show results of its deployment in real-world scenarios. We have successfully completed several dozen infrastructure inspection missions and crop monitoring missions facilitating plant phenomics studies.
Conference paper (PDF, 877 KB)


Citation: Merz, T. and Chapman, S.: AUTONOMOUS UNMANNED HELICOPTER SYSTEM FOR REMOTE SENSING MISSIONS IN UNKNOWN ENVIRONMENTS, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 143-148, https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-143-2011, 2011.

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