development of a mini-uav for urban environments tony dodd and beniamin apopei
TRANSCRIPT
Development of a Mini-UAV for Urban Environments
Tony Dodd and Beniamin Apopei
20 February 2007 IET Seminar on Micro UAVs
Overview
• UAVs@Sheffield
• The urban environment
• The challenges
• Quadrotor MAV
• Future plans
20 February 2007 IET Seminar on Micro UAVs
UAVs@Sheffield• Platform development• Control, mission planning, co-operative UAVs• Simulation/hardware-in-the-loop co-
simulation• Communications (wireless, fibre optics)• Smart and morphing structures• Advanced composites• Aerodynamics and design optimisation• Energy management
20 February 2007 IET Seminar on Micro UAVs
Industrial links/projects
• Three Rolls-Royce UTCs• Boeing sponsored AMRC• ASTRAEA• Blue Bear Systems Research• Home Office• EADS• SEAS DTC?
20 February 2007 IET Seminar on Micro UAVs
UG/MSc Projects
• Technology carrier platform
• MAV group project
• Autonomous control (inertial and GPS)
• …
20 February 2007 IET Seminar on Micro UAVs
WUN Intelligent UAV Group
• 19 research led universities
• UK, Europe, US, China, Australia, Canada
• Brings together world’s leading experts
• Collaboration, funding and exchange
20 February 2007 IET Seminar on Micro UAVs
Urban Applications
• Security• Military• Communications
relay• Pollution
monitoring• Police and
surveillance
• Traffic monitoring• Fire brigade• Search and rescue• Crowd control• Building inspection• Mapping• ...
20 February 2007 IET Seminar on Micro UAVs
MoD Grand Challenge
• “Create a system with a high degree of autonomy that can detect, identify, monitor and report a comprehensive range of military threats in an urban environment” [7]
• www.challenge.mod.uk
[7]
20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
[1]
20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
[1]
[2]
20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
[1]
[2]
[3]
20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
[1]
[2]
[3]
20 February 2007 IET Seminar on Micro UAVs
The Challenges• Simultaneous location and mapping (SLAM)• Autonomous/semi-autonomous control• Collision avoidance• Gusting and turbulence• Reliable wireless communications• Stealth• Power and energy management• User interface/mission management• Portable
20 February 2007 IET Seminar on Micro UAVs
Urban UAVs
• Fixed wing – OTH reconnaissance (superior range and endurance)
[6]
20 February 2007 IET Seminar on Micro UAVs
Urban UAVs
• Fixed wing – OTH reconnaissance (superior range and endurance)
• Rotary wing – urban operation (between and inside buildings)
20 February 2007 IET Seminar on Micro UAVs
Urban UAVs
• Fixed wing – OTH reconnaissance (superior range and endurance)
• Rotary wing – urban operation (between and inside buildings)
• Advanced rotary/flapping wing (indoors)
[5]
20 February 2007 IET Seminar on Micro UAVs
Urban UAVs• Fixed wing – OTH
reconnaissance (superior range and endurance)
• Rotary wing – urban operation (between and inside buildings)
• Advanced rotary/flapping wing (indoors)
• Lighter than air? [4]
20 February 2007 IET Seminar on Micro UAVs
Quadrotor MAV
Design requirements:• VTOL• Stable and highly manoeuvrable• All electric• Indoor and outdoor operation• Flight time > 10 min• MTOW > 3.5kg (initial prototype > 400g)• Portable and robust
20 February 2007 IET Seminar on Micro UAVs
Why Quadrotor?
• Very efficient – all power to lift
• Better payload/size ratio – compact
• More stable
• More manoeuvrable
• More robust/fault tolerant
20 February 2007 IET Seminar on Micro UAVs
COTS ComponentsSensors• Inertial measurement unit• GPS• Firewire cameras• Ultrasonic• LaserPower• Brushless motors• Tilting, counter-rotating props (+
configuration)• Lithium polymer batteriesStructure• Glass and carbon fibre chassisProcessing• Microcontroller• Dual FPGA-DSP processors (Firewire ports)
[8]
[9]
[10]
20 February 2007 IET Seminar on Micro UAVs
Quadrotor Prototype I
20 February 2007 IET Seminar on Micro UAVs
IMU Development
• COTS gyros and accelerometers (Analog Devices)
• Gyros - 300 deg/s
• Accelerometers - 2g
• PCB design
• Analogue to digital conversion
by microcontroller
• Very low cost < £200
20 February 2007 IET Seminar on Micro UAVs
Simulation and control
20 February 2007 IET Seminar on Micro UAVs
Simulation and control
• Lyapunov stability analysis – hovering operating point
• Input coupling/correlation analysis
• Hovering control
• Nonlinear control – simulation
• Tuned PID – simulation and real
20 February 2007 IET Seminar on Micro UAVs
User interface
20 February 2007 IET Seminar on Micro UAVs
Quadrotor Prototype II
20 February 2007 IET Seminar on Micro UAVs
Tiltrotor Mechanism
20 February 2007 IET Seminar on Micro UAVs
Video
20 February 2007 IET Seminar on Micro UAVs
Future plans
Technical challenges• Sensor fusion• Navigation and collision avoidance• SLAM• Active/passive vibration suppressionUser interface/mission managementBatteries and structureTesting and applications
20 February 2007 IET Seminar on Micro UAVs
References[1] http://www.americasarmy.com/gallery/index.php?id=27 [Accessed 2
February 2007][2]http://www2.soros.org/photogalleries/mw_gallery.php?series=/resources/
events/mw9/hemmerle/ [Accessed 2 February 2007][3]
http://www.actionla.org/Iraq/IraqReport/iraq_gallery_03/pages/IMGP0060.html [Accessed 2 February 2007]
[4] http://www.otherlandtoys.co.uk/silver-mylar-blimp-envelope-p-941.html [Accessed 2 February 2007]
[5] http://bicoreeos.solarbotics.net/mav.html [Accessed 2 February 2007][6] http://www.nd.edu/~mav/photo.htm [Accessed 2 February 2007][7] http://www.challenge.mod.uk [Accessed 3 February 2007][8] http://www.traquair.com/ [Accessed 3 February 2007][9] http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm [Accessed 3
February 2007][10] http://www.xsens.com/ [Accessed 3 February 2007]