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

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

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Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Thursday, April 9, 2015 2 Problem Statement Using multiple UAV coordination, this project seeks to create an

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Multiple UAV Coordination

By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Thursday, April 9, 2015

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Problem Statement

  • Using multiple UAV coordination, this project seeks to create an
  • verhead image map of the Bradley Alumni Quad.

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Overview

  • Objectives
  • Background
  • System Block Diagram
  • Requirements
  • Specifications
  • Results
  • Subsystems
  • System Results

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Objectives - Autonomous

  • 1. Able to fly in a flock point to point in all conditions; able to map

efficiently in all conditions

  • 2. Able to fly in a flock point to point and map efficiently, however in

the worst conditions the flock breaks apart and/or maps poorly

  • 3. Able to fly in a flock point to point; unable to map efficiently
  • 4. Able to fly individually point to point; unable to fly in a flock
  • 5. Controlled manually

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Objectives - Parallel

  • 1. Always able to fly in a flock
  • 2. Able to fly in a flock in all but the worst conditions
  • 3. Unable to flock in adverse conditions, otherwise flocks
  • 4. Flocks in near perfect conditions, otherwise unflockable
  • 5. Not flockable in any conditions

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Objectives - Safety

  • 1. Able to fly without causing injury in all conditions; able to be

remotely shut off in all conditions,

  • 2. Able to fly without causing injury in all but the worst conditions;

able to be shut off remotely in all conditions

  • 3. Able to fly without causing injury in most conditions; able to be

shut off remotely in all conditions

  • 4. Able to fly without causing injury in most conditions; able to be

shut off remotely in most conditions

  • 5. Unable to fly without causing an injury to others, unable to be shut
  • ff remotely.

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Objectives - Efficiency

  • 1. Able to get to the goal in all but the worst conditions; able to do

multiple runs

  • 2. Able to get to the goal in all but the worst conditions
  • 3. Unable to get to the goal in adverse conditions; otherwise is able to

complete its task

  • 4. Only able to complete its goal in near perfect conditions, otherwise

is unable to complete its goal

  • 5. Uses up all battery power before completing its goal

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Background

  • Laplacian Filter[1]
  • Bilateral Filter[2]
  • Green Ball Tracking[3]

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Background

  • Barometer[4]
  • How the Barometer works
  • How to read data and convert to altitude
  • Camera[5]
  • How the camera circuit works
  • What the capabilities of the camera are
  • Which versions work

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Background

  • Controlling Toy Quadcopter with ATmega328P [7]

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Mother Ship (AR Drone 2.0)

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Mother Ship Hardware Software

Bottom & Front Facing Cameras/ GPS Color Recognition & Edge Detection GPS Navigation & Obstacle Avoidance Auto & Manual Pilot Drones Based on Camera Feed to PC

Alexander Vallejo Dakota Mahan Ethan Hoerr Team Effort

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Drones(Hak 909)

Atmega328P Autopilot through potentiometer

Drones

RGB LED Barometer External Timer Camera

PC

Alexander Vallejo Dakota Mahan Ethan Hoerr Team Effort

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Non-Functional Requirements

  • Navigate and create an overhead image map of Bradley Alumni Quad
  • Quadcopters must communicate with one another
  • Avoid collision
  • Maintain group formation
  • Aerial images from flight must be merged into one composite image

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Functional Requirements

  • Quadcopters must be equipped with manual override control
  • Make use of at least 3 quadcopters

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Interface Specifications

  • Drones will communicate height status with mother ship by LED
  • Control program will send commands to follower drones

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Color Detection

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Color Detection

  • Functional Requirement: downward facing camera shall track the

movement and position of the follower drones

  • Specification: Drones must be recognizable within two meters

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Color Detection

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Edge Detection

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Edge Detection

  • Functional requirement: Drones must avoid collision
  • Specification: The front facing camera can detect objects between 1-

10 meters

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Edge Detection

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GPS Magentometer Fusion

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GPS Magnetometer Fusion

  • Functional Requirement: Project must navigate and create map of the

Bradley Alumni Quad

  • Specification: 6096 meters squared area

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GPS Magnetometer Fusion

5 10 15 20 25 1 10 19 28 37 46 55 64 73 82 91 100 109 118 127 136 145 154 163 172 181 190 199 208 217 226 235 244 253 262 271 280 289 298 307 316 325 334 343 352 361 370 379 388 397 406 415 424 433 442 451 460 469 478 487 496 505 514 523 532 541

Feet Iteration

GPS Error From Center

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Hardware Design

  • Altitude Sensing
  • Parallel Mapping
  • Battery Life
  • 9V Battery & 4.2 V Lithium Polymer
  • Weight Limitations

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Altitude Sensing

  • Functional Requirement: Detect and Communicate Altitude
  • Barometer BMP 180 from Bosch [4]
  • Atmega328P Microcontroller
  • 10 MM Red and Blue

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Camera

  • Functional Requirement:
  • Autonomously
  • 808 Pinhole Camera [5]
  • Shutter Button

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Stitching Software

  • Parallel Map
  • Photoshop
  • Timestamp
  • Merge

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Battery Life

  • Weight Limits
  • Hak 909
  • Camera
  • Circuit

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Circuit Schematic

Pin 10(2.2V) 100 Ohm 120 Ohm 100 Ohm 180 Ohm BMP 180 CL DA - + 5V A4(PC4) B3F

Button

Reset 10k Ohm 7805 9 V(7.2V)

Rechargeable Battery

Pin 11(3.2V) A5(PC5) GND VCC AVCC GND 5V 200 Ohm Camera 5V 5V 100 Ohm 3.3V Pin 12 (Shutter Button) Atmega 328P Blue LED Red LED 30

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Completed Circuit

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Subsystem Block Diagram: Digital Control

Hak909 Handset MCU Analog- to-Digital Converter Hak909 Handset MCU Handset BK2421 Wireless Transceiver SPI Quadcopter BK2421 Wireless Transceiver Quadcopter Control Board Quad Rotor Control SPI 2.4GHz Wireless

ATmega328P Serial Monitor

SPI

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Functional Requirements

  • 1. Control messages will be sent through a microcontroller interfaced

to radio transceivers paired with each follower UAV Specification: MCU will control digital potentiometers which shall vary the throttle, yaw, pitch and roll on the Hak909 controller across their entire range of motion.

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Functional Requirements

  • 2. Drones must be equipped with manual override control

Specification: Kill switch will be present on each quadcopter controller.

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Functional Requirements

  • 3. Control program will receive control commands to be sent to

follower UAVs Specification: MCU program will interpret data packets sent from control program, to be sent to Hak909 controllers.

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Subsystem Test Results

  • Interfaced digital potentiometer with Hak909 controller
  • Able to vary joystick resistance across

entire range of motion

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Throttle & Yaw Pitch & Roll

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Subsystem Test Results

  • Able to send control commands to Hak909 quadcopter

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Subsystem Test Results

  • Modify control parameters with serial port on computer

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Subsystem Test Results

  • Kill switch functionality verified

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Conclusion

  • System Test Results
  • Unable to test complete system
  • Color Detection
  • Edge Detection
  • Hardware Design/Implementation
  • Digital Control

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Work Cited

[1] D. Marr, E. Hildreth Proc. R. Soc. Lond. B 1980 207 187-217; DOI:10.1098/rspb.1980.0020. Published 29 February 1980 [2] R. Manduchi and C. Tomasi, “Bilateral Filtering for Gray and Color Images” in IEEE International Conference on Computer Vision, Bombay, India, 1998, pp. 839-846 [3] S. D. Levy and J. Stough, AR.Drone AutoPylot [Online]. Available: http://home.wlu.edu/~levys/software/ardrone_autopylot/ [4] https://learn.sparkfun.com/tutorials/bmp180-barometric-pressure-sensor-hookup- [5] http://www.rc-cam.com/bitsw.htm [6] http://www.chucklohr.com/808/C8/index.html [7] http://dzlsevilgeniuslair.blogspot.com/2013/11/more-toy-quadcopter-hacking.html [8] http://www.chucklohr.com/808/C3/Sven/1007Sven.html

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Multiple UAV Coordination

By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Depart: Bradley ECE Thursday, April 9, 2015