mav’08 research update
DESCRIPTION
MAV’08 Research Update. Abe Bachrach Ruijie He Sam Prentice Nicholas Roy Feb 14, 2008 Happy Valentine’s!. Mission Description. Scenario Terrorists have taken over bank building 1km away Holding hostages in 1 of the rooms 1 Guard vehicle circling area, mines present Mission - PowerPoint PPT PresentationTRANSCRIPT
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MAV’08 Research Update
Abe Bachrach
Ruijie He
Sam Prentice
Nicholas Roy
Feb 14, 2008Happy Valentine’s!
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Mission Description Scenario
Terrorists have taken over bank building 1km away Holding hostages in 1 of the rooms 1 Guard vehicle circling area, mines present
Mission Rescue hostages in 40 minutes
Assets MAVs less than 30cm in size 2 commandos, communicate via radio Ground robots for disabling mines
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Team MIT’s strategyFly helicopter to bank building
Perform coverage pattern
Search for guard vehicle
Identify obstacles, goal, mines
Google maps
Vision SLAM
Track guard vehicle
Plan commando, UGV path
Communicate with commando, UGVs
MAV monitoring
Return to base for battery recharge
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Hardware Asctec Hornet
6 rotors 10-15 min flight time GPS waypt following Data-link
900Mhz Xtend
Sensors GPS, IMU, compass, Pressure sensor 2.4Ghz camera
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Flight videos – GPS hovering
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Flight videos – GPS following
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Software
Tracking
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Software
Commando planning