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Issue No. 02 - Feb. (2014 vol. 13)
ISSN: 1536-1233
pp: 287-298
Zhongli Liu , Dept. of Comput. Sci., Univ. of Massachusetts Lowell, Lowell, MA, USA
Yinjie Chen , Dept. of Comput. Sci., Univ. of Massachusetts Lowell, Lowell, MA, USA
Benyuan Liu , Dept. of Comput. Sci., Univ. of Massachusetts Lowell, Lowell, MA, USA
Chengyu Cao , Dept. of Mech. Eng., Univ. of Connecticut, Storrs, CT, USA
Xinwen Fu , Dept. of Comput. Sci., Univ. of Massachusetts Lowell, Lowell, MA, USA
ABSTRACT
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.
INDEX TERMS
Helicopters, Wireless communication, Wireless sensor networks, Software, Roads, Surveillance, Mobile computing,UAV, Localization, smartphone
CITATION
Zhongli Liu, Yinjie Chen, Benyuan Liu, Chengyu Cao, Xinwen Fu, "HAWK: An Unmanned Mini-Helicopter-Based Aerial Wireless Kit for Localization", IEEE Transactions on Mobile Computing, vol. 13, no. , pp. 287-298, Feb. 2014, doi:10.1109/TMC.2012.238
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