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Wide-Area Surveillance System Using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques

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Wide-Area Surveillance System Using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques University of Tennessee, Knoxville TRACE: Tennessee Research and Creative Exchange Masters Theses Graduate School 7-2008 Wide-Area Surveillance System using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques Marcus James Jackson University of Tennessee, Knoxville Follow this and additional works at: https://trace.tennessee.edu/utk_gradthes Part of the Electrical and Computer Engineering Commons Recommended Citation Jackson, Marcus James, "Wide-Area Surveillance System using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques. " Master's Thesis, University of Tennessee, 2008. https://trace.tennessee.edu/utk_gradthes/3625 This Thesis is brought to you for free and open access by the Graduate School at TRACE: Tennessee Research and Creative Exchange. It has been accepted for inclusion in Masters Theses by an authorized administrator of TRACE: Tennessee Research and Creative Exchange. For more information, please contact [email protected]. To the Graduate Council: I am submitting herewith a thesis written by Marcus James Jackson entitled "Wide-Area Surveillance System using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques." I have examined the final electronic copy of this thesis for form and content and recommend that it be accepted in partial fulfillment of the equirr ements for the degree of Master of Science, with a major in Electrical Engineering. Mongi Abidi, Major Professor We have read this thesis and recommend its acceptance: Andreas Koschan, Seddik Djouadi Accepted for the Council: Carolyn R. Hodges Vice Provost and Dean of the Graduate School (Original signatures are on file with official studentecor r ds.) To the Graduate Council: I am submitting herewith a thesis written by Marcus James Jackson entitled “Wide-Area Surveillance System using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques.” I have examined the final electronic copy of this thesis for form and content and recommend that it be accepted in partial fulfillment of the requirements for the degree of Master of Science, with a major in Electrical Engineering. Mongi Abidi, Major Professor We have read this thesis and recommend its acceptance: Andreas Koschan Seddik Djouadi Accepted for the Council: Carolyn R. Hodges, Vice Provost and Dean of the Graduate School (Original signatures are on file with official student records.) Wide-Area Surveillance System using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques A Thesis Presented For The Master of Science Degree The University Of Tennessee, Knoxville Marcus James Jackson July 2008 Abstract This project proposes and describes the implementation of a wide-area surveillance system comprised of a sensor/interceptor placement planning and an interceptor unmanned aerial vehicle (UAV) helicopter. Given the 2-D layout of an area, the planning system optimally places perimeter cameras based on maximum coverage and minimal cost. Part of this planning system includes the MATLAB implementation of Erdem and Sclaroff’s Radial Sweep algorithm for visibility polygon generation. Additionally, 2-D camera modeling is proposed for both fixed and PTZ cases. Finally, the interceptor is also placed to minimize shortest-path flight time to any point on the perimeter during a detection event. Secondly, a basic flight control system for the UAV helicopter is designed and implemented. The flight control system’s primary goal is to hover the helicopter in place when a human operator holds an automatic-flight switch. This system represents the first step in a complete waypoint-navigation flight control system. The flight control system is based on an inertial measurement unit (IMU) and a proportional-integral-derivative (PID) controller. This system is implemented using a general-purpose personal computer (GPPC) running Windows XP and other commercial off-the-shelf (COTS) hardware. This setup differs from other helicopter control systems which typically use custom embedded solutions or micro-controllers. Experiments demonstrate the sensor placement planning achieving >90% coverage at optimized-cost for several typical areas given multiple camera types and parameters. Furthermore, the helicopter flight control system experiments achieve hovering success over short flight periods. However, the final conclusion is that the COTS IMU is insufficient for high-speed, high-frequency applications such as a helicopter control system. ii Contents 1. Introduction..................................................................................................................... 1 1.1 Motivation................................................................................................................. 1 1.2 Problem Description ................................................................................................. 2 1.3 Contributions............................................................................................................. 3 1.4 Organization.............................................................................................................. 4 2. Literature Review............................................................................................................ 5 2.1 Multiple Unmanned Vehicle Control Systems ......................................................... 5 2.1.1 Emerging Results in Cooperative UAV Control ............................................... 5 2.1.2 COMETS ........................................................................................................... 6 2.1.3 MICA ............................................................................................................... 10 2.1.4 JAUS................................................................................................................ 13 2.1.5 Stanford............................................................................................................ 14 2.1.6 Elemental Maneuvers....................................................................................... 15 2.1.7 STOMP ............................................................................................................ 16 2.1.8 DSP-Based Control of Mobile Robots............................................................. 17 2.1.9 Agent-Based Mission Management................................................................. 19 2.1.10 HICA.............................................................................................................. 21 2.1.11 Framework for Coordinated Control of Multi-Agent Systems...................... 22 2.1.12 Hybrid Algorithms of Multi-Agent Control .................................................. 23 2.1.13 Intelligent Systems for Autonomous Aircraft................................................ 24 2.2 UAV Flight Control Systems.................................................................................. 25 2.2.1 Traditional R/C Systems.................................................................................. 25 2.2.2 Current UAV Helicopter Autonomous Systems.............................................. 27 2.2.3 Brief Survey of Commercial Miniature UAV Autopilots................................ 30 2.3 Sensor Placement Planning..................................................................................... 34 2.3.1 The Art Gallery Problem ................................................................................. 34 2.3.2 Visibility Graphs and Polygons ....................................................................... 36 2.3.3 Erdem and Sclaroff’s Radial Sweep for Visibility Polygons........................... 39 3. UAV Helicopter Control System.................................................................................. 42 3.1 Sensor Planning ...................................................................................................... 43 3.1.1 Vertex Visibility Polygons from Room Layout............................................... 43 3.1.2 Vertex Visibility Polygons from Visibility Graph........................................... 45 3.1.3 Edge Intersection ............................................................................................. 47 3.1.4 Filtering Unique Points and Outliers from the Visibility Polygon .................. 48 3.1.5 Fixed Camera Modeling .................................................................................. 49 3.1.6 Pan-Tilt-Zoom (PTZ) Camera Modeling......................................................... 52 3.1.7 Best Mask Combination Searching.................................................................. 54 3.1.8 Shortest-Path Interceptor Placement................................................................ 56 3.1.9 Object/Face Recognition and Tracking ........................................................... 60 3.2 Proportional-Integral-Derivative (PID) Control System ........................................ 63 3.2.1 Hardware.......................................................................................................... 63 3.2.2 PID Control Theory ......................................................................................... 68 3.2.3 Position, Altitude, and Attitude Control .......................................................... 69 3.2.4 PID Tuning Techniques ................................................................................... 71 iii 3.2.5 Controls/Servo Mixing..................................................................................... 71 3.2.6
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