An unmanned remote sensing and sampling system has been developed to aid first responders in urban disaster assessment and recovery. The system design is based on a 90 kg autonomous helicopter platform with interchangeable payloads ranging from radiation detection to tethered robot deployment. A typical response would begin with three-dimensional terrain mapping using the stereovision system and a survey of radiation levels with an onboard spectrometer. From this initial survey, a more targeted flight is planned at a lower altitude with the option to localize radioactive sources in the event that radiation is present. Finally, a robot can be tether-deployed into the area of interest to collect samples. It is teleoperated from the ground control station, and after collection is finished the robot is retracted back to the helicopter for retrieval. The terrain mapping, radiation detection, radiation localization, and robot deployment and retrieval have all been flight-tested. Results of these tests indicate that the systems functioned successfully in the context of a prototype demonstrator.
Post-disaster Remote Sensing and Sampling via an Autonomous Helicopter
Journal of Field Robotics ; 31 , 4 ; 510-521
2014
12 Seiten
Article (Journal)
English