RT Journal Article
JF IEEE Transactions on Mobile Computing
YR 2014
VO 13
IS 2
SP 287
TI HAWK: An Unmanned Mini-Helicopter-Based Aerial Wireless Kit for Localization
A1 Zhongli Liu,
A1 Yinjie Chen,
A1 Benyuan Liu,
A1 Chengyu Cao,
A1 Xinwen Fu,
K1 Helicopters
K1 Wireless communication
K1 Wireless sensor networks
K1 Software
K1 Roads
K1 Surveillance
K1 Mobile computing
K1 UAV
K1 Localization
K1 smartphone
AB This paper presents a fully functional and highly portable mini Unmanned Aerial Vehicle (UAV) system, HAWK, for conducting aerial localization. HAWK is a programmable mini helicopter Draganflyer X6 armed with a wireless sniffer Nokia N900. We developed custom PI-Control laws to implement a robust waypoint algorithm for the mini helicopter to fly a planned route. A Moore space filling curve is designed as a flight route for HAWK to survey a specific area. A set of theorems were derived to calculate the minimum Moore curve level for sensing all targets in the area with minimum flight distance. With such a flight strategy, we can confine the location of a target of interest to a small hot area. We can recursively apply the Moore curve-based flight route to the hot area for a fine-grained localization of a target of interest. We have conducted extensive experiments to validate the feasibility of HAWK and our theory. A demo of HAWK in autonomous fly is available at http://www.youtube.com/watch?v=ju86xnHbEq0.
PB IEEE Computer Society, [URL:http://www.computer.org]
SN 1536-1233
LA English
DO 10.1109/TMC.2012.238
LK http://doi.ieeecomputersociety.org/10.1109/TMC.2012.238