autonomous quadcopter with human tracking and gesture recognition (quadhtgr)
DESCRIPTION
Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR). Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll. Outline. Project Summary Previous Work Preliminary Work Quadcopter Investigation Equipment and Parts List Block Diagram - PowerPoint PPT PresentationTRANSCRIPT
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Dan Garber, Jacob Hindle, and Bradley Lan
Advisor: Dr. Joseph Driscoll
Autonomous Quadcopter with Human Tracking and
Gesture Recognition (QUADHTGR)
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Outline
• Project Summary
• Previous Work
• Preliminary Worko Quadcopter Investigationo Equipment and Parts Listo Block Diagramo Ultrasonic Sensoro GPS
• Schedule Overview
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Project Summary
• Human Tracking
• Gesture Recognition
• Live Video Feed & Data Readings via Wifi
• Obstacle Avoidance and Auto-Stabilization
• R/C Manual Override
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Human Tracking
• GPS
• Image Processing
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Gesture Recognition
• BeagleBone Black
• I2C Communication Camera
• Bicycle Hand Signalo Increase Following Distanceo Decrease Following Distanceo Land
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Live Video Feed & Data Readings via Wifi• Video Captured by Camera
• GPS Data
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Obstacle Avoidance and Auto-Stabilization
• Ultrasonic Sensing
• Image Processing
• Inertial Measurement Unit
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R/C Manual Override
• Required by FFA
• Turnigy Power System 9X 2.4G 9 Channel Controller
• R/C MUX Circuit
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Previous Work
• Junior Project o GPS Receivero ATmega Based Microcontroller
• Introduction to NMEA Messages
• Serial Communication via UART for GPS Data
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Previous Work
• Junior Projecto Sharp Infrared Sensors for Edge Detectiono ATmega128 Microcontroller
• Roboboat Senior Projecto Moving Average Low-Pass Filter
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Preliminary Work
• Quadcopter Investigation
• Equipment and Parts List
• Block Diagram
• Ultrasonic Sensor
• GPS
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Quadcopter Investigation
• Two ESC Failures
• Lack of Information/Poor Documentation
• Black Box Controllerso FC1212-S (Flight Controller)o AHRS-S (IMU)
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Considered Alternative Options
• Option 1 - Repair X650CF, New XAircraft Parts
• Option 2 - Keep X650CF Frame, New Generic Parts
• Option 3 - Purchase a New Quadcoptero APM:Coptero ELEV-8 Parallaxo Parrot AR Droneo DJI Phantom
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Summary of Considerations
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Platform Chosen• Current XAircraft Quadcopter• Most Cost Effective• Assembled RTF Platform• Minor Tests Required for Flying Condition
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Equipment and Parts List
• ATmega Microprocessor
• Beagle Bone Black
• XL-MaxSonar-EZ3 (MB1230) Ultrasonic Sensor
• Adafruit 66 Channel MTK3339 GPS
Breakout Board V3
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Block Diagram
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Ultrasonic Sensor Specifications
XL-MaxSonar-EZ3 Ultrasonic Sensor
•Size: 2.2cm x 2.0cm x 2.5cm (6.1g)
•Range: 20cm - 750cm (datasheet)o Lab Test: Max Distance = About 500cm
•Reading rate: 10 Hzo Travel Limitation w/ Six Ultrasonic Sensor = 8.3m/s
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Preliminary Work - Ultrasonic Sensor
• PWM Signal Output
• Low Pass Filter of Signal
• Analog Signal Output and ADC
• Low Noise Chaining of Multiple Sensors
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Low Noise Chaining Diagram
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Adafruit GPS Specifications
• Sensitivity: -165dBmo Typically around -160 or -165dBm
• Update Rate: 10Hz Maxo Standard ≥ 1Hz
• Position Accuracy: 1.8m
• Velocity Accuracy: 0.1m/s
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Preliminary Work - Adafruit GPS
• Program for ATmega328P
• Shift to BeagleBone Black
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Schedule Overview
Ultrasonic Sensor Testing - 12/07/2013
Quadcopter Manual R/C Flight - 12/10/2013
Quadcopter Autonomous Flight - 2/6/2014
GPS Waypoint Implementation - 2/20/2014
Obstacle Avoidance - 4/08/2014
Gesture Recognition - 05/06/2014
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Questions?