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MOBILE DEFENSE SYSTEM WITH AUGMENTED AIR ROVER
Project Adviser:
Dr. Muhammad Tahir
Group Members: Adnan Chaudhary (2009-EE-103)
Zeeshan Mahmood (2009-EE-108)
Muhammad Akram Karimi (2009-EE-110)
Kashif Hassan (2009-EE-134)
MOTIVATION
Diversity Embedded System, Control System, Wireless
System Automation in Industry
Replacement of man-power ,High Accuracy Finding enormous applications in modern
world including
Defense Rescue
PROJECT DESCRIPTION:
An Air Rover capable of taking stable flight and transmitting image frames to ground base station wirelessly.
Appropriate action taken based upon the extracted intelligence by the image frames through image processing
Key Components
Air Rover Wireless link between air-rover and Base Station
Image ProcessingOn Base Station
Accelerometer
Gyroscope
STM32-F407SPI
I2C
Remote control
ReceiverPWM
PWM ESC Motors
BLOCK DIAGRAM OF QUAD COPTER
BLOCK DIAGRAM OF PID CONTROLLER
+
Gain(Kp)
Differentiator
Integrator
-Switch On (if)
Copter about to fly
InputReferenc
e
+ e(t)
PWM generation for Motors
From Acceleromete
r and Gyro
Complementary Filter
Initialize all interfaces
Start scheduling and capture interrupts
Flag Armed Set?
Blink LedNo
yes
Acquire sensor data , call
control loop and update
motor PWM’s
Workflow
ACQUIRING USER REFERENCE
FM remote provides throttle, roll, pitch and yaw reference
FM receiver demodulates and outputs four PWM’s
Trigger 4 interrupts in micro controller
Update user reference
Update flag armed
“AIR ROVER(QUAD-COPTER)”
Mechanical Structure Development of
Quad-Copter
Quad-Copter Application porting on an efficient platform STM32F407
Stabilization of Quad-Copter on 3axis Roll, Pitch, Yaw
Light Weight
Vibration Absorbent
Ease provision for testing
Communication: I2C,SPI,UART
Motors Control: PWM, Timer
System Control: Central Interrupt
Tuning of PID Controller
Control Algorithm
Reference Input Capture
WIRELESS LINK DEVELOPMENT
Choice of Appropriate Wireless Transmitter and Receiver
PAN Development
Appropriate Memory on Embedded Platform & proper mgmt. of wireless
payloads
Frequency
Range
Power Consumption
Mech. to save image frames
Crucial info detection mech. Handling trans. rate
Range
Frequency band
Modulation Scheme