Multiple UAV Coordination

By: Ethan Hoerr, Dakota Mahan, Alex VallejoTeam Advisor: Dr. DriscollDepartment: Bradley ECE

Tuesday, February 24, 2014

Project Objectives

•Efficiency

•Flocking

•Safety

•Autonomy

2

System Block Diagram (Mothership)

3

Mother Ship

Hardware Software

Front Facing HD Camera/Bottom Facing Camera/

GPS

Color RecognitionCollision

Avoidance

Auto & Manual Pilot Drones

Based on Camera Feed to PC

Alexander Valeljo

Dakota Mahan

Ethan Hoerr

Team Effort

3

System Block Diagram (Drones)

4

Atmega328P

Autopilot through

transceiver/transmitter

Drones

RGB LED

Barometer808 Pinhole

Camera

Relay/Camera

PC

Alexander Valeljo

Dakota Mahan

Ethan Hoerr

Team Effort

4

Ethan’s Tasks

5

Ethan’s Tasks

6

6

Problems

•Use Logic Analyzer feature of oscilloscope•Interpreting SPI data•Inconsistent binding when using ATmega328P to directly communicate with BK2421 wireless transceiver

7

7

Ethan’s Tasks

8

8

Work Accomplished

•Determine Hak909 Handset joystick potentiometer profile

JoystickMeasured Joystick

Resistances (ohms)

Yaw 4757

Throttle 4595

Roll 4912

Pitch 4313

Average: 4644.25

9

9

Work Accomplished

•Digital Potentiometer Selection:•5kΩ potentiometer•SPI interface•128, 256, or more taps•Single, dual, or quad pots per chip

•Microchip MCP4251-502E/P•Two digital pots per chip: similar to two pots per joystick•5kΩ, SPI, 256-taps, daisy-chain compatible

10

10

Ethan’s Tasks

11

Work Accomplished

•Interface MCP41XX (10kΩ, 256-tap, single pot) digital potentiometer with ATmega328P over SPI•Sweep from 0 to 10kΩ, wiper voltage out 0-5V:

12

12

Work Remaining

•Assemble digital potentiometer circuit

13

J1

MCP4251-502E/P

1234567

11121314

8910

SDISCKCS

P1BVss

P1AP1W

WPP0BP0WP0A

VDDSDOSHDN

V_Handset3.50Vdc

Joystick_1 Wiper

V_Handset13.50Vdc

ATmega328P 5V

Joystick_2 Wiper

ATmega328P GND

ATmega328P Pin 10

ATmega328P Pin 13

ATmega328P Pin 11

J2

MCP4251-502E/P

1234567

11121314

8910

CS

VssSDISCK

P1WP1B

P0WP0AP1A

SHDNWPP0B

VDDSDO

V_Handset23.50Vdc

Joystick_3 Wiper

V_Handset33.50Vdc

Joystick_4 Wiper

ATmega328P Pin 10

ATmega328P GND

ATmega328P 5V

ATmega328P Pin 13

ATmega328P Pin 11

13

Ethan’s Tasks

14

14

Work Remaining

•Write ATmega328P code to address 4 joysticks (daisy-chain 6 total SPI devices)•Receive control parameter values via USART from Dakota’s image processing code

•One byte each for throttle, pitch, yaw, roll•Translate to 8-bit value to send to digital pots

15

15

Anticipated Problems

•Image processing to quadcopter control•Need to minimize delay between two systems

•Default digipot positions on handset powerup•Throttle: MUST be zero!•Yaw, pitch, roll: neutral position

16

16

Previous Work

•808 Camera(Relay & Transistor)•Pay Load Testing•LED Testing•BMP 180

17

17

Alex’s Tasks

18

Work Accomplished

•808 Camera•Changes

•Shutter•Power Button•Timer

•Error:•Test Camera(1 Second Picture Time)•Current Cameras Fastest 5 Second Time•Power Button•Original Design

19

19

Work Accomplished

•Stitching Software(Hugin)•GIMP (Auto Cropping Script)

20

20

Alex’s Tasks

21

Work Accomplished

•BMP 180•Sparkfun(Feet)•Coded Timers and added LED statements into BMP File

•LEDs•Red – Under 15 Feet 2.2V•Blue – Greater than 25 3.2V

•7805•Testing Voltage Levels from9V Li Ion Battery.

22

22

Alex’s Tasks

23

Work Accomplished

•Designing Circuit•RGB LED•5V Regulator•Reset Button•Microcontroller•Power Source•BMP 180•PerfBoard

•Error:•Mis-Soldering

24

0

Atmega 328P

Pin 17 PB3

(2.2V)

120 Ohm150 Ohm

180 Ohm

100 Ohm

Red Led 2.2V

Blue LED 3.2V

BM

P 180

CL DA

- +

5V

A4(PC4)B3F

Button

Reset

10

k Oh

m

78059 V

Rechargeable

Battery

Pin 16 PB2

(3.2V)

A5(PC5)

GND

VCC

AVCC

GND5V

200 Ohm

100 Ohm

5V3.3V

5V

24

Work Remaining

•Payload Test•Arial Testing(Camera)•Battery Testing(200mAh)

•BMP - 5uA(Peak 650 uA)•RGB LED(30 mA) •Buttons/resistors(~50mAh)•Atmega328P(12.68 mA at 8Mhz)

•Stitching Software testing •Work on Team Goals(Auto-Pilot, Navigation, Parallelism)

25

25

Previous Work

Red, Green, Blue color detection

26

Dakota’s Tasks

27

Work Accomplished

28

29

Dakota’s Tasks

30

Image Processing

• Gaussian Blur• Gaussian Sharpening• Bilateral Filter• Laplace Filter• OpenCV’s Find and Draw Contours

31

Image Processing

Image Processing Flow Chart

32

Original Image

Work Accomplished

33

Work AccomplishedBilateral Filter

34

Work AccomplishedGray Scale

35

Work AccomplishedLaplace Filter

36

Work AccomplishedSubtraction

37

Work AccomplishedOpenCV Find Contours/Draw Contours

38

Dakota’s Tasks

39

Work Accomplished

•USART over USB to Ethan’s microcontroller code•Thrust and Movement Commands

40

Dakota’s Tasks

41

GPS

•GPS Data Acquisition from Parrot’s GPS

42

Work Remaining

•Threshold Value in RGB, CYM

•GPS Movement

•Drone Movement

43

• Smoothing Images [Online], OpenCV, Available:

http://docs.opencv.org/trunk/doc/py_tutorials/py_imgproc/py_filtering/

py_filtering.html

• Enhancing Image Sharpness [Online], TutorialsPoint, Available:

http://www.tutorialspoint.com/java_dip/enhancing_image_sharpness.

htm

• Laplacian Operator [Online], TutorialsPoint, Available:

http://www.tutorialspoint.com/java_dip/applying_laplacian_operator.h

tm

• Wiley, Keith, “How Unsharp Masking and Laplacian Sharpening Work”

[Online] Available:

http://keithwiley.com/astroPhotography/imageSharpening.shtml

References

44

Multiple UAV Coordination

By: Ethan Hoerr, Dakota Mahan, Alex VallejoTeam Advisor: Dr. DriscollDepartment: Bradley ECE