Autonomous Air & Ground Surveillance Unit Objectives, Preliminary Specifications, and Option Analysis

Design Objectives Extend autonomous flight capabilities of a Rotomotion helicopter to include: –The ability to determine landing zone suitability based on terrain –Tracking of UGVs Develop UGV transport system: –Design landing gear with storage area for 3 UGVs –Develop capabilities necessary to securely load and unload UGVs autonomously Develop UGVs and control system: –Design lightweight UGVs with GPS waypoint navigation and video uplink –Develop capability to safely drive into helicopter cargo bay

Final Demo Objective Procedure 1.UGVs load onto UAV 2.UAV takes off and fly to GPS waypoint 3.UAV determines safe landing zone and lands 4.UGVs unload 5.UGVs navigate to GPS waypoints and provide video surveillance 6.UAV takes off and provides further surveillance in the air 7.UGVs return to landing zone 8.UAV locates UGVs and lands near them 9.UGVs load onto UAV 10.UAV take offs and flys back to initial launch zone 11.UAV determines safe landing zone and lands 12.UGVs unload Goal: All steps fully autonomous

UGV Specifications Low enough weight to fit 3 on the SR-20 (max payload 10 lb) Capable of GPS waypoint navigation with no external control Onboard wireless camera for surveillance and visual servoing into helicopter cargo bay Capable of drive-by-wire by autonomous remote unit based on video feed (for visual servoing during loading and unloading)

UGV Cargo Bay Specifications Bays for 3 UGVs Actuated wheel blocks for security during flight LED targets to guide UGVs into their bays

Cable Suspended Payload vs Integrated Into Landing Gear IssueMethodChoiceExplanation WeightSuspendedWinch motor, cable, and general complexity increases weight IntegratedXLower weight ComplexitySuspendedRequires cargo bay, ramp, latching mechanism, winch mechanism, possible anti- rotation mechanism IntegratedXRequires cargo bay, ramp, and latching mechanism Ease of Hovering vs Landing Suspended?Hovering over the target zone is less complicated than landing, but possible instability during lowering and raising of suspended load increases risk Integrated?Requires landing in unknown conditions Drop Zone Flexibility SuspendedXAny terrain the UGV can handle IntegratedNeeds to be suitable for UAV landing Wow FactorSuspendedXAppears more technologically sophisticated IntegratedSimple solution is less impressive

SR-20 vs SR-100 IssueVehicleChoiceExplanation Payload CapacitySR-2010 lb SR-100X18 lb Landing Gear / Cargo Bay Modifications SR-20XElectronics are self contained and landing gear mounting is very simple SR-100Removal of camera ball, relocation of electronics, and consideration of swivel mounting mechanism complicates landing gear modifications Flight CharacteristicsSR-20XSmaller, lighter, easier to land SR-100Powerful but heavy, difficult takeoff and landing due to swivel landing gear Monetary Risk if Flight Failure SR-20XLower cost platform SR-100Expensive platform

Conclusions Payload Mechanism: If simplicity is the primary concern, a landing gear integrated bay is the desired mechanism Cable suspended payload provides more flexibility at the cost of weight and complexity, if the weight of the cable suspension mechanism can be tolerated, and oscillations during use minimized, suspended payload is the desired mechanism Vehicle: SR-20 is the desired platform if weight can be sufficiently minimized If high payload capacity is required, SR-100 is the desired platform, but it requires more significant modifications and monetary risk

Path Forward Test SR-20 payload capacity Design and build prototype UGV and controller Based on UGV characteristics, design and build UAV cargo bay Extend UAV and UGV capabilities Integrate UAV and UGV systems