Videos
The video stream is transmitted to ground and an operator selects targets to track.
The onboard image processing system tracks the selected multiple targets.
A gimballed camera keeps the targets on the center of the video during stand-off circular flight.
I developed the software architecture of the onboard image processing board, the autopilot of the UAV, the ground control interface, and the feedback control for the gimbal to track the targets. I led the system development and experiment.
Related Publication:
Y. Kim, W. Jung, and H. Bang, "Visual target tracking and relative navigation for unmanned aerial vehicles in a GPS‐denied environment", International Journal of Aeronautical and Space Sciences, 15(3), 112‐121, 2014. Available: ResearchGate | JournalTwo multicopter UAVs (UAV1, UAV2) are equipped with gimballed cameras. UAV2 is equipped with a laser range finder as well. They are tracking a ground target.
UAV3 (fixed-wing) is circling around UAV2, receiving its current position.
They share their states (position, etc.) and sensor measurements via an ad-hoc network (directly between the UAVs, not through the ground station).
I developed the ad-hoc communication software and designed the ground control interface for operating the multiple UAVs. I developed the autopilot and mission scheduler of the UAVs. I led the system development and experiment.
Related Publication:
Y. Kim, W. Jung, C. Kim, S. Lee, K. Tahk, and H. Bang, "Development of multiple unmanned aircraft system and flight experiment", International Conference on Unmanned Aircraft Systems, 2015. Available: ResearchGate | ProceedingY. Kim and H. Bang, "Ad-hoc inter-vehicle communication of multiple UAVs", International Conference on Control, Automation and Systems, 2014. Available: ResearchGate | Proceeding
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Lab Introduction & Talks
Software Development
