A behavior-based architecture for control of miniature autonomous helicopters is proposed. The architecture is hierarchical, with the lowest level behaviors ensuring craft survival and higher level behaviors performing such tasks as navigation and target location. The design and fabrication of a model helicopter embodying these principles is described, using a multitude of sensors and on-board computation. Deliverables from the study include a methodology for design and fabrication of low cost autonomous helocopters, an approach to automatic tuning of parameters to different craft,and a demonstration-of autonomous, vision-guided flight. PET is interested in using autonomous helicopters for structural monitoring applications. We plan to integrate MIR technology, proposed to be developed under another SBIR proposal, on to this type of vehicle. Anticipated Military Benefits/Potential Commercial Application of the Research or Development: The autonomous helicopter when mounted with multi-sensors can be used to survey an area for detection, identifying location and type of land mines. It can also be used to help dispose of the discovered mines. The proposed project has enormous potential commercial applications. These applications include structural monitoring, scientific data gathering, crop spraying, traffic surveillance, identification of unexploded land mines, delivery of supplies to stranded travellers or hikers and photographing hazardous or hostile areas.
Keywords: Autonomous Helicopters; Behavior Based Control Systems
