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Multiple UAV Coordination
By: Ethan Hoerr, Dakota Mahan, Alex VallejoTeam Advisor: Dr. DriscollDepartment: Bradley ECE
Tuesday, February 24, 2014
Project Objectives
•Efficiency
•Flocking
•Safety
•Autonomy
2
System Block Diagram (Mothership)
3
Mother Ship
Hardware Software
Front Facing HD Camera/Bottom Facing Camera/
GPS
Color RecognitionCollision
Avoidance
Auto & Manual Pilot Drones
Based on Camera Feed to PC
Alexander Valeljo
Dakota Mahan
Ethan Hoerr
Team Effort
3
System Block Diagram (Drones)
4
Atmega328P
Autopilot through
transceiver/transmitter
Drones
RGB LED
Barometer808 Pinhole
Camera
Relay/Camera
PC
Alexander Valeljo
Dakota Mahan
Ethan Hoerr
Team Effort
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Ethan’s Tasks
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Ethan’s Tasks
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Problems
•Use Logic Analyzer feature of oscilloscope•Interpreting SPI data•Inconsistent binding when using ATmega328P to directly communicate with BK2421 wireless transceiver
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7
Ethan’s Tasks
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8
Work Accomplished
•Determine Hak909 Handset joystick potentiometer profile
JoystickMeasured Joystick
Resistances (ohms)
Yaw 4757
Throttle 4595
Roll 4912
Pitch 4313
Average: 4644.25
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9
Work Accomplished
•Digital Potentiometer Selection:•5kΩ potentiometer•SPI interface•128, 256, or more taps•Single, dual, or quad pots per chip
•Microchip MCP4251-502E/P•Two digital pots per chip: similar to two pots per joystick•5kΩ, SPI, 256-taps, daisy-chain compatible
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10
Ethan’s Tasks
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Work Accomplished
•Interface MCP41XX (10kΩ, 256-tap, single pot) digital potentiometer with ATmega328P over SPI•Sweep from 0 to 10kΩ, wiper voltage out 0-5V:
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Work Remaining
•Assemble digital potentiometer circuit
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J1
MCP4251-502E/P
1234567
11121314
8910
SDISCKCS
P1BVss
P1AP1W
WPP0BP0WP0A
VDDSDOSHDN
V_Handset3.50Vdc
Joystick_1 Wiper
V_Handset13.50Vdc
ATmega328P 5V
Joystick_2 Wiper
ATmega328P GND
ATmega328P Pin 10
ATmega328P Pin 13
ATmega328P Pin 11
J2
MCP4251-502E/P
1234567
11121314
8910
CS
VssSDISCK
P1WP1B
P0WP0AP1A
SHDNWPP0B
VDDSDO
V_Handset23.50Vdc
Joystick_3 Wiper
V_Handset33.50Vdc
Joystick_4 Wiper
ATmega328P Pin 10
ATmega328P GND
ATmega328P 5V
ATmega328P Pin 13
ATmega328P Pin 11
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Ethan’s Tasks
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Work Remaining
•Write ATmega328P code to address 4 joysticks (daisy-chain 6 total SPI devices)•Receive control parameter values via USART from Dakota’s image processing code
•One byte each for throttle, pitch, yaw, roll•Translate to 8-bit value to send to digital pots
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Anticipated Problems
•Image processing to quadcopter control•Need to minimize delay between two systems
•Default digipot positions on handset powerup•Throttle: MUST be zero!•Yaw, pitch, roll: neutral position
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Previous Work
•808 Camera(Relay & Transistor)•Pay Load Testing•LED Testing•BMP 180
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Alex’s Tasks
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Work Accomplished
•808 Camera•Changes
•Shutter•Power Button•Timer
•Error:•Test Camera(1 Second Picture Time)•Current Cameras Fastest 5 Second Time•Power Button•Original Design
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Work Accomplished
•Stitching Software(Hugin)•GIMP (Auto Cropping Script)
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Alex’s Tasks
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Work Accomplished
•BMP 180•Sparkfun(Feet)•Coded Timers and added LED statements into BMP File
•LEDs•Red – Under 15 Feet 2.2V•Blue – Greater than 25 3.2V
•7805•Testing Voltage Levels from9V Li Ion Battery.
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Alex’s Tasks
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Work Accomplished
•Designing Circuit•RGB LED•5V Regulator•Reset Button•Microcontroller•Power Source•BMP 180•PerfBoard
•Error:•Mis-Soldering
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0
Atmega 328P
Pin 17 PB3
(2.2V)
120 Ohm150 Ohm
180 Ohm
100 Ohm
Red Led 2.2V
Blue LED 3.2V
BM
P 180
CL DA
- +
5V
A4(PC4)B3F
Button
Reset
10
k Oh
m
78059 V
Rechargeable
Battery
Pin 16 PB2
(3.2V)
A5(PC5)
GND
VCC
AVCC
GND5V
200 Ohm
100 Ohm
5V3.3V
5V
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Work Remaining
•Payload Test•Arial Testing(Camera)•Battery Testing(200mAh)
•BMP - 5uA(Peak 650 uA)•RGB LED(30 mA) •Buttons/resistors(~50mAh)•Atmega328P(12.68 mA at 8Mhz)
•Stitching Software testing •Work on Team Goals(Auto-Pilot, Navigation, Parallelism)
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Previous Work
Red, Green, Blue color detection
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Dakota’s Tasks
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Work Accomplished
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Dakota’s Tasks
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Image Processing
• Gaussian Blur• Gaussian Sharpening• Bilateral Filter• Laplace Filter• OpenCV’s Find and Draw Contours
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Image Processing
Image Processing Flow Chart
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Original Image
Work Accomplished
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Work AccomplishedBilateral Filter
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Work AccomplishedGray Scale
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Work AccomplishedLaplace Filter
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Work AccomplishedSubtraction
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Work AccomplishedOpenCV Find Contours/Draw Contours
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Dakota’s Tasks
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Work Accomplished
•USART over USB to Ethan’s microcontroller code•Thrust and Movement Commands
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Dakota’s Tasks
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GPS
•GPS Data Acquisition from Parrot’s GPS
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Work Remaining
•Threshold Value in RGB, CYM
•GPS Movement
•Drone Movement
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• Smoothing Images [Online], OpenCV, Available:
http://docs.opencv.org/trunk/doc/py_tutorials/py_imgproc/py_filtering/
py_filtering.html
• Enhancing Image Sharpness [Online], TutorialsPoint, Available:
http://www.tutorialspoint.com/java_dip/enhancing_image_sharpness.
htm
• Laplacian Operator [Online], TutorialsPoint, Available:
http://www.tutorialspoint.com/java_dip/applying_laplacian_operator.h
tm
• Wiley, Keith, “How Unsharp Masking and Laplacian Sharpening Work”
[Online] Available:
http://keithwiley.com/astroPhotography/imageSharpening.shtml
References
44
Multiple UAV Coordination
By: Ethan Hoerr, Dakota Mahan, Alex VallejoTeam Advisor: Dr. DriscollDepartment: Bradley ECE
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