Advanced Ground Locomotion System for a Biologically Inspired Micro Morphing Air-Land Vehicle (MMALV)
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Authors
Murphy, Corry
Subjects
Unmanned Aerial Vehicle
Robotics
Autopilot
Biologically-Inspired
Gumstix
Micro Morphing Air-Land Vehicle
Surveillance
Reconnaissance
WHEGs (TM)
Robotics
Autopilot
Biologically-Inspired
Gumstix
Micro Morphing Air-Land Vehicle
Surveillance
Reconnaissance
WHEGs (TM)
Advisors
Yun, Xiaoping
Date of Issue
2008-06
Date
June 2008
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
It is the purpose of this thesis to further advance research conducted in the development of an autonomous ground control for a Micro-Morphing Air-Land Vehicle. (MMALV). The intent of this system is to provide a small, low cost reconnaissance asset in the form of an unmanned aerial vehicle that is capable of flying, landing, and crawling to its target location. The biologically inspired MMALV has already been successfully integrated with the Kestrel Autopilot proving it capable of semi and full autonomous flight. This thesis will focus on the advanced development of the ground locomotion system by integrating a Gumstix microprocessor with the Kestrel Autopilot system. Research in this thesis has: 1) drawn upon biological inspiration to enhance MMALV’s robustness, 2) extended development of the ground locomotion system to allow MMALV to navigate on the ground both semi and full autonomously, and 3) extended the capabilities of the MMALV by introducing on-board processing. Operational capability has been established through extensive hardware tests in realistic hostile environments.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.