draft design may 11-10: autonomous uav competitio n
DESCRIPTION
Client: Space Systems & Controls Laboratory (SSCL ) Advisor : Matthew Nelson. 491 Team Component. Anders Nelson (EE) [email protected] Mathew Wymore ( CprE ) [email protected] Kale Brockman [email protected] Stockli Manuel [email protected]. Kshira Nadarajan ( CprE ) - PowerPoint PPT PresentationTRANSCRIPT
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Draft Design May 11-10: Autonomous UAV Competition
Client: Space Systems & Controls Laboratory (SSCL)Advisor : Matthew Nelson
Anders Nelson (EE)[email protected]
Mathew Wymore (CprE)[email protected]
Kale [email protected]
Stockli [email protected]
Kshira Nadarajan (CprE)[email protected]
Mazdee Masud (EE)[email protected]
Andy [email protected]
Karolina [email protected]
491 Team Component
466 Team Component
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Unmanned Aerial Vehicle
1. International Aerial
robotics Competition –
AUVSI
2. Autonomous flying robot
3. Stability, obstacle
avoidance
4. Extensible for future
development – SLAM,
vision etc.
Source: AUVSI. International Aerial Robotics Competition. Retrieved on 11/14/2010 from http://iarc.angel-strike.com/index.php.
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System Decomposition
Control System Main controller Motor controller
Sensor System Inertial Measurement Unit (IMU) Cameras, Range Finders
Will not be selected by us.
Communications SystemSoftware SystemPower System
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Control System
Main Controller (Gumstix Overo) USB Host stack (laser) I2C (motor controller) Linux (ease of use)
Motor controller (16-bit PIC) Serial I/O (IMU) PWM out (ESCs) I2C (main controller)
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Software Flow Diagram
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Software System
Positioning System Issues commands to motion controller
Motion Control and Heading*: Acquires commands from positioning system Translates commands to motor signals
Obstacle avoidance module: Reads current sensor data Identifies immediate obstacles and avoids them
*Process marked in Red indicates implementation in motor controller rather than main controller
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Sensor System
Inertial Measurement Unit (IMU) Takes in 9 DOF measurements Outputs to Motor Microcontroller through
serial interface External Sensors
IR/sonar sensors▪ For basic obstacle avoidance▪ Used as a fail safe for navigation system
Range Finders and Vision Systems▪ To be selected by later teams for SLAM
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Communications System
RF System WiFi integrated into main controller Base station communication
RC Hobby System Allows manual control Comes into motor controller
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Power System
LiPo Battery 11.1V 6000 ~ 6500 mAh 20 C Maximum (Continuous Discharging) 3 Cell
Serial Connection 11.1V (Combination of three single cell/one single & one 2 cell
battery) 6000 ~ 6500 mAh/cell 20 C Maximum
Parallel Connection 11.1 V/cell 6000 ~ 6500 mAh (Combination of three single cell/one single &
one 2 cell battery) 20 C Maximum
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Test Plan
Stability Test motor stability control with varying degrees of external
disturbance and record response Communication
Test distance and speed of communication between platform and remote base
Flight Control Determine accuracy of movement from various control
commands Obstacle Avoidance
Determine reliability and accuracy of obstacle avoidance from movement in various directions
Endurance (Power) Will run the battery under expected load while monitoring
voltage over time
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Current Status
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Questions ?