Multiple UAV Coordination

Transcription

1 Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Thursday, April 9, 2015

2 2 Problem Statement Using multiple UAV coordination, this project seeks to create an overhead image map of the Bradley Alumni Quad.

3 3 Overview Objectives Background System Block Diagram Requirements Specifications Results Subsystems System Results

4 4 Objectives - Autonomous 1. Able to fly in a flock point to point in all conditions; able to map efficiently in all conditions 2. Able to fly in a flock point to point and map efficiently, however in the worst conditions the flock breaks apart and/or maps poorly 3. Able to fly in a flock point to point; unable to map efficiently 4. Able to fly individually point to point; unable to fly in a flock 5. Controlled manually

5 5 Objectives - Parallel 1. Always able to fly in a flock 2. Able to fly in a flock in all but the worst conditions 3. Unable to flock in adverse conditions, otherwise flocks 4. Flocks in near perfect conditions, otherwise unflockable 5. Not flockable in any conditions

6 6 Objectives - Safety 1. Able to fly without causing injury in all conditions; able to be remotely shut off in all conditions, 2. Able to fly without causing injury in all but the worst conditions; able to be shut off remotely in all conditions 3. Able to fly without causing injury in most conditions; able to be shut off remotely in all conditions 4. Able to fly without causing injury in most conditions; able to be shut off remotely in most conditions 5. Unable to fly without causing an injury to others, unable to be shut off remotely.

7 7 Objectives - Efficiency 1. Able to get to the goal in all but the worst conditions; able to do multiple runs 2. Able to get to the goal in all but the worst conditions 3. Unable to get to the goal in adverse conditions; otherwise is able to complete its task 4. Only able to complete its goal in near perfect conditions, otherwise is unable to complete its goal 5. Uses up all battery power before completing its goal

8 8 Background Laplacian Filter[1] Bilateral Filter[2] Green Ball Tracking[3]

9 9 Background Barometer[4] How the Barometer works How to read data and convert to altitude Camera[5] How the camera circuit works What the capabilities of the camera are Which versions work

10 10 Background Controlling Toy Quadcopter with ATmega328P [7]

11 11 Mother Ship (AR Drone 2.0) Alexander Vallejo Dakota Mahan Ethan Hoerr Team Effort Mother Ship Hardware Software Bottom & Front Facing Cameras/ GPS Color Recognition & Edge Detection GPS Navigation & Obstacle Avoidance Auto & Manual Pilot Drones Based on Camera Feed to PC

12 12 Alexander Vallejo Dakota Mahan Ethan Hoerr Team Effort Drones(Hak 909) Drones Atmega328P Autopilot through potentiometer External Timer Barometer PC Camera RGB LED

13 13 Non-Functional Requirements Navigate and create an overhead image map of Bradley Alumni Quad Quadcopters must communicate with one another Avoid collision Maintain group formation Aerial images from flight must be merged into one composite image

14 14 Functional Requirements Quadcopters must be equipped with manual override control Make use of at least 3 quadcopters

15 15 Interface Specifications Drones will communicate height status with mother ship by LED Control program will send commands to follower drones

16 Color Detection 16

17 17 Color Detection Functional Requirement: downward facing camera shall track the movement and position of the follower drones Specification: Drones must be recognizable within two meters

18 Color Detection 18

19 Edge Detection 19

20 20 Edge Detection Functional requirement: Drones must avoid collision Specification: The front facing camera can detect objects between 1-10 meters

21 Edge Detection 21

22 GPS Magentometer Fusion 22

23 23 GPS Magnetometer Fusion Functional Requirement: Project must navigate and create map of the Bradley Alumni Quad Specification: 6096 meters squared area

24 GPS Magnetometer Fusion Feet Iteration GPS Error From Center 24

25 25 Hardware Design Altitude Sensing Parallel Mapping Battery Life 9V Battery & 4.2 V Lithium Polymer Weight Limitations

26 26 Altitude Sensing Functional Requirement: Detect and Communicate Altitude Barometer BMP 180 from Bosch [4] Atmega328P Microcontroller 10 MM Red and Blue

27 27 Camera Functional Requirement: Autonomously 808 Pinhole Camera [5] Shutter Button

28 28 Stitching Software Parallel Map Photoshop Timestamp Merge

29 29 Battery Life Weight Limits Hak 909 Camera Circuit

30 5V Button B3F 10k Ohm 30 Circuit Schematic Reset VCC GND Camera Atmega 328P AVCC GND A4(PC4) A5(PC5) Pin 12 (Shutter Button) 0 Pin 11(3.2V) 100 Ohm Pin 10(2.2V) 100 Ohm 5V Blue LED 180 Ohm Red LED 120 Ohm Rechargeable Battery 9 V(7.2V) 5V 100 Ohm 3.3V 200 Ohm CL DA - + BMP V

31 Completed Circuit 31

32 32 Subsystem Block Diagram: Digital Control Serial Monitor ATmega328P SPI Hak909 Handset MCU Analogto-Digital Converter Hak909 Handset MCU SPI Handset BK2421 Wireless Transceiver 2.4GHz Wireless Quad Rotor Control Quadcopter Control Board SPI Quadcopter BK2421 Wireless Transceiver

33 33 Functional Requirements 1. Control messages will be sent through a microcontroller interfaced to radio transceivers paired with each follower UAV Specification: MCU will control digital potentiometers which shall vary the throttle, yaw, pitch and roll on the Hak909 controller across their entire range of motion.

34 34 Functional Requirements 2. Drones must be equipped with manual override control Specification: Kill switch will be present on each quadcopter controller.

35 35 Functional Requirements 3. Control program will receive control commands to be sent to follower UAVs Specification: MCU program will interpret data packets sent from control program, to be sent to Hak909 controllers.

36 36 Subsystem Test Results Interfaced digital potentiometer with Hak909 controller Able to vary joystick resistance across entire range of motion Throttle & Yaw Pitch & Roll

37 37 Subsystem Test Results Able to send control commands to Hak909 quadcopter

38 38 Subsystem Test Results Modify control parameters with serial port on computer

39 39 Subsystem Test Results Kill switch functionality verified

40 40 Conclusion System Test Results Unable to test complete system Color Detection Edge Detection Hardware Design/Implementation Digital Control

41 41 Work Cited [1] D. Marr, E. Hildreth Proc. R. Soc. Lond. B ; DOI: /rspb Published 29 February 1980 [2] R. Manduchi and C. Tomasi, Bilateral Filtering for Gray and Color Images in IEEE International Conference on Computer Vision, Bombay, India, 1998, pp [3] S. D. Levy and J. Stough, AR.Drone AutoPylot [Online]. Available: [4] [5] [6] [7] [8]

42 Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Depart: Bradley ECE Thursday, April 9, 2015