autonomous_navigation for_ariel_robots (quadcopters)
TRANSCRIPT
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BY: J.G. LAKSHMI KANTH
12K95A0409
Guide:Mrs. P. Gayathri
Assoc.prof
coordinator :Ms. K. Sudha Rani
Assoc.Prof
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QUAD ROTOR IS IN SET POSTION
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HE PUSHES IT FORWARD
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QUADROTOR MOVES FORWARD
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AUTOMATIC RETURN TO ORIGIN
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Gyroscope, accelerometer, magnetometer (IMU)
Ultrasound height sensor
Pressure sensor
Visualodometry sensor (60fps)
Front camera (720p, 30fps)
SENSORS:
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Actuators: 4 brush less motors, 14.5W AVR CPU motor controllers LiPobattery,1000mAh
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Embedded Linux system (Ubuntu) ARMCortexA8, 1GHz Linux 2.6.32 USB2.0host WiFib,g,n Open-source API
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DIGITAL GYROSCOPE ACCELEROMETER
MEMS IMU
+
ACCELEROMETER
GYROSCOPE
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PWM SIGNALSWITH
VARIABLEDUTY CYCLE
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Where, t is Translation matrix
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• Preserves Angles between Lines
Parallel Lines Remain Parallel
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How can we estimate the robot motion?
•Control-based models predict the estimated motion from
the issued control commands
•Odometry-based models are used when systems are
Equipped with distance sensors (e.g., wheel encoders)
•Velocity-based models have to be applied when no wheel encoders are given.
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Best Practices (Robot Architecture):ModularRobustDe-centralizedHardware and software abstractionProvide introspectionData logging and playbackEasy to learn and to extendProvides infrastructure
Open-source: ROS (Robot OS )Player/Stage, CARMEN, YARP Closed-source: Microsoft Robotics
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Pix4 Flow Sensor
Algorithm:
1) Image Acquisition2) Image Correction3) Feature Detection4) Estimate Optical Flow field5) Obtain correlation6) Check for Tracking errors7) Use Kalman Filter for state estimation distribution maintenance.
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1) Search and Rescue operations.2) Building Inspection after Earth quake3) Bridge inspection4) Roof inspection5) Precision Agriculture.6) Mapping of buildings7) Architecture8) Transportation9) Building planning
Quadrotors with Thermal cameras for forest fire prevention Quadrotor with Nuclear detection device Painting seeds
1) Limited flight time2) Legal Regulations3) Prone to Hacking
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As there is a Potential for using Quadcopters in Many Fields it is up to Candidates to think of Where they can be efficiently used. Making It
more Stable Is also Important.
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