Autonomous Quadrocopter Design Review

PowerPoint Presentation

Autonomous Quadrocopter Design ReviewBrad Bergerhouse, Nelson Gaske, Austin WenzelDr. Malinowski1OutlineOriginal GoalsAbridged Project DescriptionProgressRevised GoalsCurrent Schedule and Milestones22OutlineOriginal GoalsAbridged Project DescriptionProgressRevised GoalsCurrent Schedule and Milestones3Original GoalsImplement backup fly-by-wire controls for safety and testingAvoid obstacles using video and sensor feedbackAutonomously navigate through narrow passages using onboard sensorsDevelop a quadrocopter platform for future senior projects

4OutlineOriginal GoalsAbridged Project DescriptionProgressRevised GoalsCurrent Schedule and Milestones5Functional DescriptionInterface BeagleBoard with XAircraft X650 Quadrocopter platformUse BeagleBoard I/O to interface with sensors and remote controlsDevelop passage following algorithm using minimal sensor inputUtilize image processing techniques for navigational purposes and goal criteria6System Diagram

7OutlineOriginal GoalsAbridged Project DescriptionProgressRevised GoalsCurrent Schedule and Milestones8ProgressPlatform Arrived. Assembly is complete, we are now working on a rotor guard solutionClose to having a working PWM solutionWe have started on I2C5V regulator is ready for installation SUSAN corner detection on images in progress

9Completed Platform10

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Quadrocopter Building13Rotor Guards14

15General DSP flowchart

SUSAN corner detection

Hindrances to ProgressBeagleBoard documentation (or lack there of)Lack of standardized interfaces for major hardware componentsCross compiling kernel issues

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Attempts to output PWM to GPIO pinsBash ScriptC code

Servodrive kernel moduleOpenembedded Bitbake18OutlineOriginal GoalsAbridged Project DescriptionProgressRevised GoalsCurrent Schedule and Milestones19Revised GoalsUse sensors to avoid obstaclesUse camera to observe navigational marking and goal criteriaFly-by-wire

20What should our goals be now?OutlineOriginal GoalsAbridged Project DescriptionProgressRevised GoalsCurrent Schedule and Milestones21Original Schedule22

Revised Schedule23

Questions?24BeagleBoard

IR Distance SensorsSharp GP2Y0A02YK0F

Octal ADC TI ADS7823-28EVM

5MP CameraLI-LBCM5M1

DSP

DM3730CBP Processor

Wifi

I2C

Serial

Laptop

USB

Flight Control Board

Motor ESCs

PWM

UltraPWM

Motors

XAircraft X650

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Capture image from camera

Send image array information to DSP

**Perform SUSAN corner detection on image

Output image with the corners marked

Store image to shared memory

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Place circular mask around pixel to be tested (nucleus pixel)

Calculate number of pixels in circular mask with similar brightness as nucleus pixel(USAN)

Subtract USAN size from geometric threshold to produce a corner strength image

Find USAN centroid and continuity

Use non-maximum suppression to find corners

mark the corner found

Is next pixel there?

Yes

Break

No