the micro-cart project will develop a fully autonomous uav for the 2007 international aerial...
TRANSCRIPT
The Micro-CART project will develop a fully autonomous UAV for the 2007 International Aerial Robotics Competition. The industry-sponsored project is funded by a Lockheed-Martin grant. Results of the project may contribute to future industrial or government products. The project provides an opportunity for students to participate in a relatively large multi-disciplinary project and compete with design engineering teams from around the world.
MMICROICRO--CARTCART U N M A N N E D A E R I A L
V E H I C L E
Closing Summary
ONGO - 03http://seniord.ece.iastate.edu/ongo03
Estimated Cost for Spring 2007(total expenses $2,308)
300 112
356
675
535
Documentation ResearchMeetings DevelopmentAdministrative
AbstractThe Association for Unmanned Vehicle Systems International (AUVSI) holds an International Aerial Robotics Competition (IARC) every July at Ft. Benning, Georgia. Collegiate teams from around the world enter unmanned aerial vehicles (UAVs) capable of autonomous flight into this competition where specific mission objectives must be met. The goal of the Microprocessor-Controlled Aerial Robotics Team (Micro-CART) is to submit a UAV for the entry level of IARC by developing a fully-autonomous helicopter. This will showcase the role of Iowa State in the field of unmanned aerial robotics and provide valuable design experience to Micro-CART team members.
• Continued support from Iowa State University and Lockheed Martin
• Sensor system will provide all necessary flight software inputs
• Current helicopter airframe limitations (lift, weight, speed, fuel)
• Power considerations for on-board hardware
• Robust autonomous flight system modifiable for various missions
• Documentation covering all aspects of research and accomplished tasks
• Design and build a primary aerial vehicle capable of autonomous flight
• Develop an integrated system of sensors to control the aerial vehicle
• Enter entry-level IARC, Summer 2007
• Varied topography and a few man-made obstacles
• Fair weather conditions with possible light rain or wind
• Maneuver within a 430-acre area
• Micro-CART team members will use the vehicle to compete in the IARC
• Future use for researchers, industry representatives, or hobbyists
Problem Statement
Operating Environment
Intended Users and Uses
Assumptions
Limitations
Expected End Product
Client
Funding Provided By
Design Objectives• Develop an aerial vehicle to compete in entry-level IARC
Functional Requirements• Hover via autonomous flight control• Self navigation to global positioning
system (GPS) waypoints• Communication between ground station and helicopter
Design Constraints• Size and weight considerations• Cost minimization• Low power consumption• Protect electronics from environment
Measurable Milestones• Sensor implementation and testing• Autonomous flight-control software testing• Communications and ground station development• Test flights: hover, forward movement, hold position
Proposed Approach• Vehicle – X-cell #1005-1 gas helicopter• Computation – On-board controller (PC/104) to provide sensor interfaces and
processing resources for flight control software• Navigation – GPS and magnetic compass• Communication – RF Modem• Dynamics – Inertial measurement unit (IMU)• Object Detection – Sonar transducer
Technologies Considered• Software controlled basic stability• Self-navigation to GPS waypoints
Testing Considerations• Individual hardware unit testing (GPS, IMU, Compass, Sonar)• Integrated hardware unit test with flight-control• Hover, forward movement, and hold position flight tests
M i c r o p r o c e s s o r – C o n t r o l l e d A e r I a l R o b o t I c s T e a m
PC-104 Processor
Board
PC-104 Power Supply (UPS)
Board
PC-104 ISA/PCI Bus
PC
-104
Sta
ck
Processing Unit
RF Modem
Inertial Measuring Unit (IMU)
Magnetic Compass
Global Positioning
System (GPS)
Sonar Transducer
A/D Conversion Board
Son
ar A
ssem
bly
RS-232
RS-232
RS-232
RS-232
RS-232
Sensors
Communications
Battery
Flight Control Software
Sensor Data
Control Commands
Gasoline Engine
Servo Interface
Servos
Emergency Kill Switch
Human PilotRadio
Receiver (Controls)
Manual Override
RS-232
Control Input
Control Output
Transmitter/Receiver
Ground Station
Introduction Approach and Considerations
Estimated Resources
Project Schedule
Closing Summary
Project Requirements
Power and Payload SubteamPankaj MakhijaJim ChristgauBill HughesHassan Javed
Ground Station SubteamGuillermo Hernandez CprERicardo Fonseca CprE
AdvisorsDr. Gregory C. Smith EE/CprE Dr. John Lamont EE/CprE Prof. Ralph Patterson, III EE/CprE Scott Morgan (Lockheed Martin)
Team LeadersKito Berg-Taylor AeroEBryan Baumhover CprE
Controls SubteamKito Berg-TaylorBryan Baumhover Todd KreykesPriyanka Singh
Sensors SubteamAlyson YoungBai ShenMatt LichtiBret Staehling
Estimated Personnel Hours/Category(1978 Total Hours)
Primary Vehicle
EE LeaderEEEEEE Communications Coordinator
AeroE LeaderCprECprEEE
Entry level functionality
CprE LeaderCprEEEEE