AUTONOMOUS AGENTS UTILIZING PASSIVE OPTICAL SENSING FOR CONTROL
Stalford, Aaron M.
Dobrokhodov, Vladimir N.
Bingham, Brian S.
MetadataShow full item record
The project addresses the problem of integrating a passive optical sensor onboard an autonomous unmanned aerial vehicle (UAV) and its operation in future missions against various targets/threats. The thesis develops the analytical and experimental software and hardware framework around a commercial-off-the-shelf quadcopter (COTSQ) for autonomous missions. The COTSQ features advanced autopilot capabilities along with an onboard optical sensor that is fully integrated into the control software. This research is applicable to any agent that has similar passive optical sensing capability. The work addresses the following key research questions and concepts: • Prove the sufficiency of the inner-outer loop design of a COTSQ autopilot to perform the autonomous sensing and detection of targets and threats in real time • What is the desired architecture of a high-level guidance controller to enable a single COTSQ and then multiple COTSQs to optimally search and automatically detect targets/threats? • How can the optical feed be used to facilitate detection and tracking of objects based on the real-time video feed from the UAVs? • How can this optical feed be utilized to advance the intelligent autonomy of the UAVs? • What are the fundamental limitations of achievable performance of the following components? o onboard instrumentation to enable robust execution of the search & detection mission and its robust scalability to potentially unlimited number of UAVs.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Showing items related by title, author, creator and subject.
Assessment of an onboard EO sensor to enable detect-and-sense capability for UAVs operating in a cluttered environment Ang, Wee Kiong (Monterey, California: Naval Postgraduate School, 2017-09);In an increasingly complex environment crowded with obstacles, particularly manned and unmanned traffic, technological advancements can autonomously provide alerts to the presence of incoming threats. In other words, ...
Batteson, Bruce (Monterey, CA; Naval Postgraduate School, 2019-09);Fast neutron detection is critical to the interdiction of illicit special nuclear material, among other potential applications. The use of heavy oxide scintillators to detect fast neutrons is one technology requiring little ...
McNeal, William B (Monterey, California. Naval Postgraduate School, 1997-12);NPS Combat Systems students learn systems engineering through a series of courses in design, development, implementation, and testing and evaluation. In the last of this series of courses, students design an autonomous ...