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1DTSI / Interactive Robotics Unit
IST 2.6.1 Advanced Robotics
µdronesµDRone autOnomous Navigation for Environment
Sensing
JM ALEXANDRE
CEA List
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2DTSI / Interactive Robotics Unit
Objective of the project : AUTONOMOUS MICRO DRONE
Development small size flying robot able to carry outdoor missions (urban environment) autonomously without human command for civil security applications
- Autonomous localisation- Autonomous navigation- Robustness to unexpected events
Sensors for security-Vision-Chemical
Sensors for autonomy-Vision-GPS-Inertial-US/IR
USABLE IN HUMAN ENVIRONMENT- Small size and weight- Careenage
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3DTSI / Interactive Robotics Unit
µDrones presentation
CONSORTIUMCEA List – Technology research institute (FR)Thales Security System – Industry (Fr)University of Tünbingen – Research institute (D)AirRobot – SME (D)Lisippos – SME (GR)
Main developments- Algorithms for autonomous localisation and navigation-Intuitive MMI for mission preparation and control-Flying robot-Evaluation in urban environment
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4DTSI / Interactive Robotics Unit
MCS – Mission Control System
•Man Machine Interface (mission preparation)
– Screen with (2D or 3D view of the urban environment (GPS navigation map), to define the trajectory that the drone will follow autonomously.
– Definition of the trajectory by defining way point
– Automatic planning of the trajectory
•Man Machine Interface (mission monitoring)
– Display a feedback of :
• Estimated position of the drone
• Data coming from the mission sensors ( video, chemical …)
– Stop the drone on an interest point and to servo the drone on this point or command with a joystick
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5DTSI / Interactive Robotics Unit
Perception and command for flight autonomy
•Attitude stabilization
- attitude stabilization of the UAV using inertial sensor (Gyrometer and accelerometer MEMS) to counteract wind perturbation.
•Localization and navigation
– Performed by different sensors modalities, including GPS, vision, inertial sensors.
– Redundancy increases the reliability of the system (loss of information from one of the sensors. (GPS loss, bad vision feedback or too poor video contents).
•Obstacle avoidance
– Strategy of obstacle avoidance based on optic flow (measurement of time to collision).
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6DTSI / Interactive Robotics Unit
Final scenarios
•Two scenarios
– Crisis management scenario ( unknown urban environment)
• Search and Rescue
• Car accidents
• Fight against terrorism
• Forest Fire Detection
– Inspection and monitoring of sensitive site (known environment)
• Nuclear power plant
• Chemical factory