Autonomous Quadrocopter Proposal. Brad Bergerhouse, Nelson Gaske, Austin Wenzel Dr. Malinowski. Outline. Introduction Goals Project Description Tests Schedule. Outline. Introduction Goals Project Description Tests Schedule. What is a Quadrocopter?. - PowerPoint PPT Presentation
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Autonomous Quadrocopter ProposalBrad Bergerhouse, Nelson Gaske, Austin WenzelDr. Malinowski1OutlineIntroductionGoalsProject DescriptionTestsSchedule22OutlineIntroductionGoalsProject DescriptionTestsSchedule3What is a Quadrocopter?A quadrocopter is anaircraftthat is lifted and propelled by fourrotors.
4Why is this technology important?Quadrocopters are inherently stable platforms which share advantages with helicopters and airplanes, without the disadvantagesMicroprocessor and DSP chip integration provides an powerful core while maintaining the low power usage of single chip processors5Why this project?To develop an autonomous vehicle with 6-DOFTackle challenges presented during 3 dimensional navigation with minimal sensorsProvides a unique opportunity to implement an aerial platform for use in future department projects and courses6OutlineIntroductionGoalsProject DescriptionTestsSchedule7GoalsImplement 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
8Fly-by-wireRemotely control quadrocopter with computer joystick or R/C transmitter for safetyImplemented to prevent loss of control during development and testing9Obstacle AvoidanceUse range sensors and single camera to avoid obstaclesRange sensors will be (initially) positioned in all 6 Euclidian directionsCamera will be aimed forward and DSP will be used for object detection10Autonomous NavigationNavigate narrow passages in a fully autonomous natureCreate obstacles using symbols to indicate directional constraints11Future PlatformFully document design process and component interfacingExpandable processing and I/O components
12OutlineIntroductionGoalsProject DescriptionTestsSchedule13Project 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 to detect obstacles or goal criteria14System Diagram
15System Diagram
16
XAircraft X650Platform includes controllers, motors, and infrastructure required for operation Accepts industry standard R/C PWM inputs for flight controllerHandles stability and individual motor control for arbitrary PWM inputs17System Diagram
18BeagleBoardIncludes TI OMAP processor, USB interfaces and camera headerPerforms processing required for navigationOutputs industry standard PWM directly into flight controller
19System Diagram
20
IR Distance SensorsOutput analog voltage based upon distance to an obstacleLinear response between 10cm and 150cmADC necessary to interface with Beagleboard 21TI ADC12-bit Octal ADC with I2C interface Bridges logic between sensors and Beagleboard50K samples per second
22System Diagram
23AccelerometerPossibly used for orientation input to BeagleBoard24System Diagram
25I2C InterfaceInter-Integrated CircuitMaster-slave 2-wire bus interfaceUsed to communicate between ADC, Accelerometer, and BeagleBoardAdditional logic level converter required to interface between BeagleBoard (1.8V) and ADC (5V)
26System Diagram
27CameraCaptures images, send to BeagleBoard over serial communication5-Megapixel image output with downsizing for processing speed
28System Diagram
29Laptop Communicates via 802.11 wireless protocol to BeagleBoardTransmits manual override controls to BeagleboardProvides goal conditions for navigationCan act as a data store for retrieved information30System Diagram
31DSPImages processed using Canny edge detection algorithmSymbol detection using predefined symbols for navigation controlCommunicates with processor using shared memory regions
32System Diagram
33OMAP ARM coreInterprets sensor informationProvides control outputs to platformMonitors sensor inputs for proper goal conditions
34OutlineIntroductionGoalsProject DescriptionTestsSchedule35Tests to be performedTethered TestingTakeoff and LandingMove at constant altitude to a landmarkChange altitude during flight, continue to landmarkMove in straight line through narrow passageway Un-Tethered TestingFly straight and return to starting positionFly through narrow passageway and turn corner
36OutlineIntroductionGoalsProject DescriptionTestsSchedule37Division of laborAustinDSP and object recognitionBradCommunication and networkingNelsonHardware interfacing and power management38Schedule11/17-Camera and Joystick Interfacing12/1-Wireless and I2C interfacing1/19-PWM output design1/26-PWM output testing2/2-IR sensor interfacing2/9-Platform Assembly2/16-Platform Power Testing2/23-Initial Navigation Design
39Schedule contd3/1-Navigation Design3/8-Navigation Design3/22-Navigation Design3/29-Test Design4/5-Testing and debugging4/12-Testing and debugging4/19-Testing and debugging4/26-Presentation preparation40Questions?41BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
BeagleBoard
IR Distance SensorsSharp GP2Y0A02YK0F
Octal ADC TI ADS7823-28EVM
5MP CameraLI-LBCM5M1
DSP
DM3730CBP Processor
Wifi
Accelerometer
I2C
Serial
Laptop
RC Controller
USB
Flight Control Board
Motor ESCs
PWM
UltraPWM
Motors
XAircraft X650
