Octo-X Terrain Mapping UAV

MIDN Godfrey BaldezMIDN Manuel De La Cruz

MIDN Richard GonongMIDN Zachary Rafter

Advisor: Assistant Professor Jeremy Dawkins

Overview• Motivation & Current Research/Products• Goals• Software• Hardware• Testing• Lessons Learned

Motivation• To showcase the abilities of

unmanned systems.• Develop a method for autonomous

surveying of a given area• To demonstrate the capabilities of

UAVs in the areas of science, engineering, and military.

• Used in a wide variety of fields• To perform tasks normally done by

humans.

Applications• Engineering and Infrastructure

designo Project planningo Land and Resource Management

• Validation of satellite imageryo Google Maps

• Environmental studieso Ecosystem mapping

• Geological hazard assessmentso Erosion potential mapping

• Military Applicationso Counter IED o Intelligence / Surveillance / Reconnaissanceo Logistics (route planning)

Current Research/Products

3DR X8-M Boomerang

Problem statement• To build a robust, and functional UAV that has

the potential to:o collect lidar datao record Go-Pro video

•To make the UAV flyable via:oRemote Control (Minimum)oAutonomous (Ideal)

•To create Digital Elevation Model’s using the collected LiDar data

Software Overview

Matlab

Local Timer

UAV in Action C++ Control Code

Simulated Flight Plan

Autonomous CodeMatlab

Psuedo-Code

Google Maps( set desired area to scan )

Create Waypoints

While( track is incomplete )

For ( each waypoint )

Drive UAV to despos w/ PD-C

end

end

Autonomous CodeMatlab

ROS Infrastructure• ROS-collection of

software framework for robot software development. Allows software development to be segmented and in turn makings communication easier.

• MAVROS-Communication node for Ground Control Station

Autonomous CodeC++

Psuedo-CodeKeyboard Command FunctionAssign keyboard letters to UAV functions

Main LoopParse .txt file

Set Octo-State to Loiter

While( ROS is working )

constantly read for new keyboard commands

If ( UAV in autonomous mode )

start local timer

If ( UAV in autonomous mode )

compare time to time stamp in .txt file

assign desired positions

run controller

end

else

send current desired position

end

Hardware• Components

o3DR Pixhawk FCo3DR Radio Seto3DR uBlox GPS/Compass KitoTurnigy 9X RC Transmittero4x 5000 mah 4C Li-Po BatteriesoDynamixel AX-12A Servo + USBoHokuyo URG-04LX LiDARoIntel NUC UAV ComputeroTurnigy 930 KV Brushless Motor x8o30A ESC x8o10in 10x4.5 Propellers x8oNeewer x525 Quadcopter Kit

COTS/Fabricated/Test Equipment

Component Design • Mounting

oLaser Cutter (Custom Mounting Plates made with

oServo Mount (Custom)oLiDAR Mount (Custom)oComputer Mount (Custom)

•Thrust/Payload CapacityoRedundancy (Motors/Props)

•Firmware•Battery Life•Power distribution

https://www.youtube.com/watch?v=SrIVQvqMcCo#t=23

Competing Product:

3D Robotics X8-M Cost: $5400.00

Cost Analysis3DR PixHawk Flight Controller $199.99

3DR Radio Transmitter Set $100.00

3DR uBlox GPS/Compass Kit $89.99

Turnigy 9X RC Transmitter $59.99

5100mAh 4C Li-Po Batteries x4 $213.64

Dynamixel AX-12A Servo + USB $94.80

Hokuyo URG-04LX LiDAR $1,995.00

Intel NUC UAV Computer $149.95

Turnigy 930 KV Brushless Motors x8 $114.00

30A ESCs x8 $105.20

10” 10x4.5 Propellers x8 $16.00

NEEWER x525 Quadcopter Kit $25

GoPRO Hero 3+ $379.95

Belkin N300 USB Wireless Adapter $19.95

Belkin 4-port USB HUB $29.99

XT-60 Connectors $17.80

1/4 "Acrylic (12”x24”) $15.76

Total: $3,627.00

https://www.youtube.com/watch?v=GxUSpoCi6cA

Flight tests

Test on Hospital Point15 APR 2015

Future Work

Although we were unable to do live testing, the simulated tests proved promising. If we had more time, we would optimize the controller gains and perform live tests.

Lessons learned• Knock off equipment• Appreciation for sticking to a

schedule• Mounting issues• Communication

Questions??

Thank you for your time