Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle (UAV)

Authors:
Andreas Birk;Burkhard Wiggerich;Heiko Bülow;Max Pfingsthorn;Sören Schwertfeger
Affiliations:
Jacobs University Bremen, Bremen, Germany 28759;AirRobot GmbH & Co. KG, Arnsberg, Germany 59755;Jacobs University Bremen, Bremen, Germany 28759;Jacobs University Bremen, Bremen, Germany 28759;Jacobs University Bremen, Bremen, Germany 28759
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

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Abstract

Several missions with an Unmanned Aerial Vehicle (UAV) in different realistic safety, security, and rescue field tests are presented. First, results from two safety and security missions at the 2009 European Land Robot Trials (ELROB) are presented. A UAV in form of an Airrobot AR100-B is used in a reconnaissance and in a camp security scenario. The UAV is capable of autonomous waypoint navigation using onboard GPS processing. A digital video stream from the vehicle is used to create photo maps--also known as mosaicking--in real time at the operator station. This mapping is done using an enhanced version of Fourier Mellin based registration, which turns out to be very fast and robust. Furthermore, results from a rescue oriented scenario at the 2010 Response Robot Evaluation Exercises (RREE) at Disaster City, Texas are presented. The registration for the aerial mosaicking is supplemented by an uncertainty metric and embedded into Simultaneous Localization and Mapping (SLAM), which further enhances the photo maps as main mission deliveries.