mav’08 research update abe bachrach ruijie he sam prentice nicholas roy feb 14, 2008 happy...
DESCRIPTION
Team MIT’s strategy 1. Fly helicopters to bank building 2. Perform coverage pattern to search for guard, map environment 3. Use Google maps/Vision SLAM to identify obstacle/goal locations Fly helicopter to bank building Perform coverage pattern Search for guard vehicle Identify obstacles, goal, mines Google mapsVision SLAM Track guard vehicle Plan commando, UGV path Communicate with commando, UGVs MAV monitoring Return to base for battery rechargeTRANSCRIPT
MAV’08 Research Update
Abe BachrachRuijie He
Sam PrenticeNicholas Roy
Feb 14, 2008Happy 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 Rescue hostages in 40 minutes
Assets MAVs less than 30cm in size 2 commandos, communicate via radio Ground robots for disabling mines
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
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
Flight videos – GPS hovering
Flight videos – GPS following
Software Tracking
Software Commando planning