anders nelson (ee) [email protected] mathew wymore (cpre) [email protected] kshira nadarajan...
TRANSCRIPT
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IRP PresentationMay 11-10: Autonomous UAV Competition
Anders Nelson (EE) [email protected] Mathew Wymore (CprE)[email protected]
Kshira Nadarajan (CprE)[email protected]
Mazdee Masud (EE)[email protected]
Client: Space Systems & Controls Laboratory (SSCL)Advisor : Matthew Nelson
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Introduction
SSCL(Space Systems & Controls Lab)
Unmanned Aerial Vehicle
AUVSI Aerial Robotics Competition
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Problem Statement
Aim: To participate in the International Aerial Robotics Competition(IARC) http://iarc.angel-strike.com/ Overall Challenge: To penetrate a building,
navigate through the corridors and completing tasks such as replacing a USB stick▪ Our specific challenge: To build a platform
capable of flying autonomously, stabilizing and avoiding obstacles
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Functional Requirements
1.5kg Maximum Total Platform Weight Low Power
Battery Powered Capable of >10 minutes of flight time (20+
minutes reached with 1278g weight) Operational
Capable of onboard stability control (Generation of PWM signals from Pic )
Wireless base station communication▪ Wireless link capable of at least 42 meters
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Functional Requirements (continued)
Expandable Potential for navigation in a GPS-denied
environment▪ Obstacle Detection Module using Laser Range
Finder▪ Support for computer vision system
Connectivity for manual remote kill switch Potential for remote autonomous commands Connectivity for wire-burn USB stick drop-off
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Project Plan
Working with 2 other teams this semester Engr 467 – Platform Team worked with last
semester Engr 466 – Second Semester, Controls Team
for Project Weekly team and large group meetings
Team lead from Engr 467 leads group meeting and combines agendas from each team
Working closely with Controls Team to set API and sensors to their requirements
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Full Design Approach
Quad-Copter Sensors
9 DoF IMU Laser Range Finder Camera Vision System
Control System Dedicated stability
controller Remote Kill Switch
and Manual Control Ability
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Electronic Component
WiFi to base station for vision processing Two separate control modules
PIC dedicated to stability control Main controller for system control and
communication Internal and External Sensors
IMU - stability algorithms in PIC Altitude - detection through Sonar Laser Range Finder - collision avoidance and
navigation Cameras – finding room and USB as part of
challenge
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Functional Decomposition
Hardware System Processing
Software System Software
Architecture Sensors System
Internal and External
Power System
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Parts Selection
Laser Range Finder - >$2000 Hokuyo URG-4LX - 240º range : 2mm – 5m Obstacle Detection
Sonar – LV-Max Sonar-EZ 4 Depth Sensing Obstacle Detection, Control System
IMU – Analog ADIS 16400 9 Degrees of Freedom 12bits Resolution: +/- 300˚/s, +/-18g, +/-2.5 gauss
Gumstix Overo Fire COM TI OMAP3 720 MHz w/ 256 MB RAM Angstrom embedded Linux kernel Integrated USB, WiFi
PIC32MX795F512L 80MHz, 32-bit MCU
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Midterm Challenges
Larger number of teams Controls Team: Vision and Navigation
Improved budget Re-evaluation of system design Arrival of some parts Communication Breakdown
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Obstacle Detection Module
int isLeftBlocked(); int isRightBlocked(); int isFrontBlocked(); int isBlocked(int index1, int index2);
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Sensors System
Hokuyo URG-04LX Laser Range Finder Connection through software established Program developed for initializing and reading in data▪ Sub function of forward and side obstacle detection
Sonar Connects via USART serial in Consistent altitude measurements into PIC32
IMU Was not acquired, deemed a low priority▪ Gaui 330 by Controls team used to simplify controls▪ IMU still needed, but flight capable through stability system on
Gaui Were advised to concentrate on integration of other
parts
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Power System
Lipo Battery 2 – 3cell pack combination will be used 11.1V, 6400mah, 20 C 320g
BEC voltage regulator 11.1V (ESC’s, 4 motors) 3.3V (PIC) 5V (Laser, Gumstix, Camera, Sonar,
IMU)
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Power System (Continued)
11.1 V Lipo Battery3-cell
ESC’s
Motor Motor Motor Motor
Laser
Gumstix
Camera
Sonar
IMU
PIC
11.1 V
3.3 V
Voltage Regulator 5 V
Current Measure
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Test Plan
SPI Oscilloscope, register watch, Gumstix
terminal Sonar
Oscilloscope, register watch Fixed position, yard stick, LEDs
Power Manual flight endurance test
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Testing Results
SPI PIC and Gumstix run at different voltage
Sonar Sonar is accurate to 1 inch Ranges up to 44 inches
Power Flight time of almost 21 minutes With 1278g weight
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Obstacle Detection - Testing
15 trials in each test caseSide True
Positives (%)
True Negatives (%)
False Positives(%)
False Negatives(%)
Left 100 0 14.28 85.71
Right 100 0 35.71 64.28
Front 98.4 1.6 28.571 71.42
Average 99.46 0.5 26.19 73.81
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Future Work
Implement IMU with format for use by Controls team
Set up cameras with frame grabber Order designed PCB
Test all connections and functions Conduct stability tests with all items on
platform Implement navigation algorithm
Basic algorithm designed by Controls team Test runs on complete platform
Debug as needed
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Lessons Learned
Importance of Communication Too many visions, too little time But I thought….
Full team from start Playing catch up Defining roles
Attention to detail Biting off more than you can chew
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Flight Tests
First successful flight http://
www.youtube.com/watch?v=SKbRr4Nj6V4
Demo of ESC shutoff at low voltage http://
www.youtube.com/watch?v=Hx0s8WKSEH8
Endurance Flight http://www.youtube.com/watch?v=jSsSb
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