Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex - - PowerPoint PPT Presentation

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Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex - - PowerPoint PPT Presentation

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Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Tuesday, February 24, 2014 2 Project Objectives Efficiency Flocking Safety Autonomy 3 System Block

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Multiple UAV Coordination

By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Tuesday, February 24, 2014

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Project Objectives

  • Efficiency
  • Flocking
  • Safety
  • Autonomy

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System Block Diagram (Mothership)

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Mother Ship Hardware Software

Front Facing HD Camera/Bottom Facing Camera/ GPS Color Recognition Collision Avoidance Auto & Manual Pilot Drones Based on Camera Feed to PC

Alexander Valeljo Dakota Mahan Ethan Hoerr Team Effort

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System Block Diagram (Drones)

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Atmega328P Autopilot through transceiver/ transmitter

Drones

RGB LED Barometer 808 Pinhole Camera Relay/ Camera

PC

Alexander Valeljo Dakota Mahan Ethan Hoerr Team Effort

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Ethan’s Tasks

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Ethan’s Tasks

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Problems

  • Use Logic Analyzer feature of oscilloscope
  • Interpreting SPI data
  • Inconsistent binding when using ATmega328P to

directly communicate with BK2421 wireless transceiver

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Ethan’s Tasks

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Work Accomplished

  • Determine Hak909 Handset joystick potentiometer

profile

Joystick Measured Joystick Resistances (ohms) Yaw 4757 Throttle 4595 Roll 4912 Pitch 4313 Average: 4644.25

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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

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Ethan’s Tasks

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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:

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Work Remaining

  • Assemble digital potentiometer circuit

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J1 MCP4251-502E/P 1 2 3 4 5 6 7 11 12 13 14 8 9 10 SDI SCK CS P1B Vss P1A P1W WP P0B P0W P0A VDD SDO SHDN V_Handset 3.50Vdc Joystick_1 Wiper V_Handset1 3.50Vdc ATmega328P 5V Joystick_2 Wiper ATmega328P GND ATmega328P Pin 10 ATmega328P Pin 13 ATmega328P Pin 11 J2 MCP4251-502E/P 1 2 3 4 5 6 7 11 12 13 14 8 9 10 CS Vss SDI SCK P1W P1B P0W P0A P1A SHDN WP P0B VDD SDO V_Handset2 3.50Vdc Joystick_3 Wiper V_Handset3 3.50Vdc Joystick_4 Wiper ATmega328P Pin 10 ATmega328P GND ATmega328P 5V ATmega328P Pin 13 ATmega328P Pin 11

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Ethan’s Tasks

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SLIDE 15

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

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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

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Previous Work

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

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Alex’s Tasks

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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

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Work Accomplished

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

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Alex’s Tasks

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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 from

9V Li Ion Battery.

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Alex’s Tasks

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Work Accomplished

  • Designing Circuit
  • RGB LED
  • 5V Regulator
  • Reset Button
  • Microcontroller
  • Power Source
  • BMP 180
  • PerfBoard
  • Error:
  • Mis-Soldering

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Atmega 328P

Pin 17 PB3 (2.2V) 120 Ohm 150 Ohm 180 Ohm 100 Ohm Red Led 2.2V Blue LED 3.2V

BMP 180

CL DA - +

5V A4(PC4)

B3F

Button

Reset 10k Ohm

7805 9 V Rechargeable

Battery

Pin 16 PB2 (3.2V) A5(PC5) GND VCC AVCC GND

5V

200 Ohm 100 Ohm

5V

3.3V

5V

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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)

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Previous Work

Red, Green, Blue color detection

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Dakota’s Tasks

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Work Accomplished

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Dakota’s Tasks

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Image Processing

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

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Image Processing

Image Processing Flow Chart

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Original Image

Work Accomplished

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Work Accomplished

Bilateral Filter

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Work Accomplished

Gray Scale

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Work Accomplished

Laplace Filter

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Work Accomplished

Subtraction

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Work Accomplished

OpenCV Find Contours/Draw Contours

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Dakota’s Tasks

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Work Accomplished

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

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Dakota’s Tasks

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GPS

  • GPS Data Acquisition from Parrot’s GPS

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Work Remaining

  • Threshold Value in RGB, CYM
  • GPS Movement
  • Drone Movement

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  • 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

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Multiple UAV Coordination

By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE

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