Issue No. 02 - Feb. (2014 vol. 13)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/TMC.2012.238
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
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.
Helicopters, Wireless communication, Wireless sensor networks, Software, Roads, Surveillance, Mobile computing
Zhongli Liu, Yinjie Chen, Benyuan Liu, Chengyu Cao and Xinwen Fu, "HAWK: An Unmanned Mini-Helicopter-Based Aerial Wireless Kit for Localization," in IEEE Transactions on Mobile Computing, vol. 13, no. 2, pp. 287-298, 2014.