Dan Garber, Jacob Hindle, and Bradley Lan

Advisor: Dr. Joseph Driscoll

Autonomous Quadcopter with Human Tracking and

Gesture Recognition (QUADHTGR)

Outline

• Project Summary

• Previous Work

• Preliminary Worko Quadcopter Investigationo Equipment and Parts Listo Block Diagramo Ultrasonic Sensoro GPS

• Schedule Overview

Project Summary

• Human Tracking

• Gesture Recognition

• Live Video Feed & Data Readings via Wifi

• Obstacle Avoidance and Auto-Stabilization

• R/C Manual Override

Human Tracking

• GPS

• Image Processing

Gesture Recognition

• BeagleBone Black

• I2C Communication Camera

• Bicycle Hand Signalo Increase Following Distanceo Decrease Following Distanceo Land

Live Video Feed & Data Readings via Wifi• Video Captured by Camera

• GPS Data

Obstacle Avoidance and Auto-Stabilization

• Ultrasonic Sensing

• Image Processing

• Inertial Measurement Unit

R/C Manual Override

• Required by FFA

• Turnigy Power System 9X 2.4G 9 Channel Controller

• R/C MUX Circuit

Previous Work

• Junior Project o GPS Receivero ATmega Based Microcontroller

• Introduction to NMEA Messages

• Serial Communication via UART for GPS Data

Previous Work

• Junior Projecto Sharp Infrared Sensors for Edge Detectiono ATmega128 Microcontroller

• Roboboat Senior Projecto Moving Average Low-Pass Filter

Preliminary Work

• Quadcopter Investigation

• Equipment and Parts List

• Block Diagram

• Ultrasonic Sensor

• GPS

Quadcopter Investigation

• Two ESC Failures

• Lack of Information/Poor Documentation

• Black Box Controllerso FC1212-S (Flight Controller)o AHRS-S (IMU)

Considered Alternative Options

• Option 1 - Repair X650CF, New XAircraft Parts

• Option 2 - Keep X650CF Frame, New Generic Parts

• Option 3 - Purchase a New Quadcoptero APM:Coptero ELEV-8 Parallaxo Parrot AR Droneo DJI Phantom

Summary of Considerations

Platform Chosen• Current XAircraft Quadcopter• Most Cost Effective• Assembled RTF Platform• Minor Tests Required for Flying Condition

Equipment and Parts List

• ATmega Microprocessor

• Beagle Bone Black

• XL-MaxSonar-EZ3 (MB1230) Ultrasonic Sensor

• Adafruit 66 Channel MTK3339 GPS

Breakout Board V3

Block Diagram

Ultrasonic Sensor Specifications

XL-MaxSonar-EZ3 Ultrasonic Sensor

•Size: 2.2cm x 2.0cm x 2.5cm (6.1g)

•Range: 20cm - 750cm (datasheet)o Lab Test: Max Distance = About 500cm

•Reading rate: 10 Hzo Travel Limitation w/ Six Ultrasonic Sensor = 8.3m/s

Preliminary Work - Ultrasonic Sensor

• PWM Signal Output

• Low Pass Filter of Signal

• Analog Signal Output and ADC

• Low Noise Chaining of Multiple Sensors

Low Noise Chaining Diagram

Adafruit GPS Specifications

• Sensitivity: -165dBmo Typically around -160 or -165dBm

• Update Rate: 10Hz Maxo Standard ≥ 1Hz

• Position Accuracy: 1.8m

• Velocity Accuracy: 0.1m/s

Preliminary Work - Adafruit GPS

• Program for ATmega328P

• Shift to BeagleBone Black

Schedule Overview

Ultrasonic Sensor Testing - 12/07/2013

Quadcopter Manual R/C Flight - 12/10/2013

Quadcopter Autonomous Flight - 2/6/2014

GPS Waypoint Implementation - 2/20/2014

Obstacle Avoidance - 4/08/2014

Gesture Recognition - 05/06/2014

Questions?