Identificador persistente para citar o vincular este elemento: http://hdl.handle.net/10553/48161
Título: A biologically based chemo-sensing UAV for humanitarian demining
Autores/as: Bermúdez i Badia, Sergi 
Bernardet, Ulysses
Guanella, Alexis
Pyk, Pawel
Verschure, Paul F.M.J.
Clasificación UNESCO: 33 Ciencias tecnológicas
32 Ciencias médicas
Palabras clave: UAV
Demining
Autonomous control
Localization
Biologically based, et al.
Fecha de publicación: 2007
Publicación seriada: International Journal of Advanced Robotic Systems 
Resumen: Antipersonnel mines, weapons of cheap manufacture but lethal effect, have a high impact on the population even decades after the conflicts have finished. Here we investigate the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV) for demining tasks. We developed a blimp based UAV that is equipped with a broadly tuned metal-thin oxide chemo-sensor. A number of chemical mapping strategies were investigated including two biologically based localization strategies derived from the moth chemical search that can optimize the efficiency of the detection and localization of explosives and therefore be used in the demining process. Additionally, we developed a control layer that allows for both fully autonomous and manual controlled flight, as well as for the scheduling of a fleet of cUAVs. Our results confirm the feasibility of this technology for demining in real-world scenarios and give further support to a biologically based approach where the understanding of biological systems is used to solve difficult engineering problems.
URI: http://hdl.handle.net/10553/48161
ISSN: 1729-8806
DOI: 10.5772/5697
Fuente: International Journal of Advanced Robotic Systems[ISSN 1729-8806],v. 4, p. 187-198 (junio 2007)
Colección:Artículos
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