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Autonomous Quadrocopter Design Review Brad Bergerhouse, Nelson Gaske, Austin Wenzel Dr. Malinowski

Autonomous Quadrocopter Design Review

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Autonomous Quadrocopter Design Review. Brad Bergerhouse, Nelson Gaske, Austin Wenzel Dr. Malinowski. Outline. Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones. Outline. Original Goals Abridged Project Description Progress - PowerPoint PPT Presentation

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Page 1: Autonomous Quadrocopter Design Review

Autonomous Quadrocopter Design ReviewBrad Bergerhouse, Nelson Gaske, Austin WenzelDr. Malinowski

Page 2: Autonomous Quadrocopter Design Review

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Outline Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones

Page 3: Autonomous Quadrocopter Design Review

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Outline Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones

Page 4: Autonomous Quadrocopter Design Review

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Original Goals Implement backup fly-by-wire controls

for safety and testing Avoid obstacles using video and sensor

feedback Autonomously navigate through narrow

passages using onboard sensors Develop a quadrocopter platform for

future senior projects

Page 5: Autonomous Quadrocopter Design Review

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Outline Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones

Page 6: Autonomous Quadrocopter Design Review

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Functional Description Interface BeagleBoard with XAircraft

X650 Quadrocopter platform Use BeagleBoard I/O to interface with

sensors and remote controls Develop passage following algorithm

using minimal sensor input Utilize image processing techniques for

navigational purposes and goal criteria

Page 7: Autonomous Quadrocopter Design Review

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System DiagramXAircraft X650

BeagleBoard

IR Distance SensorsSharp GP2Y0A02YK0F

Octal ADC TI ADS7823-28EVM

5MP CameraLI-LBCM5M1

Wifi

I2C

Serial

Laptop

DSP

DM3730CBP Processor

USB

Flight Control Board

Motor ESC’s

PWMUltraPWM

Motors

Page 8: Autonomous Quadrocopter Design Review

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Outline Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones

Page 9: Autonomous Quadrocopter Design Review

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Progress Platform Arrived. Assembly is complete,

we are now working on a rotor guard solution

Close to having a working PWM solution We have started on I2C 5V regulator is ready for installation SUSAN corner detection on images in

progress

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Completed Platform

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Page 12: Autonomous Quadrocopter Design Review

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Page 13: Autonomous Quadrocopter Design Review

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Quadrocopter Building

Page 14: Autonomous Quadrocopter Design Review

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Rotor Guards

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General DSP flowchartCapture 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

Page 16: Autonomous Quadrocopter Design Review

SUSAN corner detectionPlace 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

Page 17: Autonomous Quadrocopter Design Review

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Hindrances to Progress BeagleBoard documentation (or lack

there of) Lack of standardized interfaces for

major hardware components Cross compiling kernel issues

Page 18: Autonomous Quadrocopter Design Review

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Attempts to output PWM to GPIO pins Bash Script C code

Servodrive kernel module Openembedded Bitbake

Page 19: Autonomous Quadrocopter Design Review

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Outline Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones

Page 20: Autonomous Quadrocopter Design Review

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Revised Goals Use sensors to avoid obstacles Use camera to observe navigational

marking and goal criteria Fly-by-wire

Nelson
What should our goals be now?
Page 21: Autonomous Quadrocopter Design Review

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Outline Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones

Page 22: Autonomous Quadrocopter Design Review

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Original ScheduleCamera and Joystick Interfacing

Camera and DSP interfacing

Wireless and I2C Interfacing

Platform Assembly

PWM output design and testing

IR sensor Interfacing

Platform Power Testing

Communication Design

Navigation Design

Testing and Debugging

Presentation Preparation

17-Nov 7-Dec 27-Dec 16-Jan 5-Feb 25-Feb 16-Mar 5-Apr 25-Apr 15-May

AustinBradNelson

Page 23: Autonomous Quadrocopter Design Review

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Revised ScheduleCamera and Joystick Interfacing

Camera and DSP interfacing

Wireless and I2C Interfacing

Platform Assembly

Platform Power Testing

PWM output design and testing

IR sensor Interfacing

Navigation Design

Testing and Debugging

Presentation Preparation

17-Nov 7-Dec 27-Dec 16-Jan 5-Feb 25-Feb 16-Mar 5-Apr 25-Apr 15-May

AustinBradNelson

AustinBradNelson

Page 24: Autonomous Quadrocopter Design Review

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Questions?