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

Aug 15, 2022 175 likes •435 views

Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Purpose To create an overhead image map of a defined land plot using autonomous Unmanned Aerial Vehicles (UAVs) 2

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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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SLIDE 2

Purpose

  • To create an overhead image map of

a defined land plot using autonomous Unmanned Aerial Vehicles (UAVs)

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Background

  • Advantage of using multiple UAVs
  • How to coordinate multiple UAVs

– Individual flight plans – Wandering until region is cleared – Leader-follower configuration

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Background

  • Use of “swarming” or “flocking” coordination

scheme

  • Distribution of task responsibilities based on

vehicle capabilities

– Leader-follower configuration

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Previous Work

  • Research: Coordinated Mapping and

Exploration for Autonomous Soaring

– Depenbusch and Langelaan, 2011 – Uses multiple UAVs to estimate vertical wind speed of discrete regions in an air space

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Previous Work

  • Patent: Multi-UAV dynamic formation control

method

– Hall, et. al, 2012 for Beijing University of Aeronautics and Astronautics – Establishes method for maintaining multiple UAV formation – Establishes method for obstacle avoidance

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Previous Work

  • Research: Flocking with Fixed-Wing UAVs for

Distributed Sensing

– Quintero et. al, 2013 – Leader-follower configuration for visual ground target tracking – Distributes task responsibilities based on UAV privileges

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Previous Work

  • Patent: Controlling unmanned aerial vehicles

as a flock to synchronize flight in aerial displays

– Stark et. al, 2013 for Disney Enterprises, Inc. – Choreographed air shows – Ground control system uploads flight plan to individual UAVs – Each UAV executes its specific, choreographed flight pattern – Non-swarming

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Possible Applications

  • Commercial

– Agriculture, civil engineering, professional photography, mapping

  • Research

– Environmental science, tracking natural disasters

  • Government

– Security, defense, intelligence

  • Search and Rescue

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Design Constraints & Specifications

  • Battery power

– UAVs must have enough power to complete task

  • UAV payload

– UAVs must fly while carrying any additional equipment

  • Collision avoidance

– People, trees, buildings

  • Altitude

– Advisor Spec: Between 7-20 feet

  • FAA Limitations

– Cannot exceed 400 ft altitude – Must have manual control override

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Detailed Budget

  • Four Quad Copters
  • Four Emitters
  • Four Receivers

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The Purchasing Decisions Process

  • Defining the Problem (Current vs Ideal

situation)

  • Information Search (Internal and

External)

  • Alternative Evaluation (Evaluation

Criteria vs. Consideration Set)

  • Purchase Decision (When & Where)
  • Post-purchase Behavior (Cognitive

Dissonance)

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Cost-Benefit Analysis(CBA)

  • Two purposes
  • To determine if this is a sound

investment

  • To provide a basis for

comparing project investments(total expected costs vs total benefits)

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Economic Analysis

  • How will this effect the market?
  • Scarce Resources
  • Opportunity Costs, Social Costs, and Benefits

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Gantt Chart

  • Order Parts (Research)
  • Interfacing Software
  • Interfacing Hardware
  • Complete Assembly
  • Debugging
  • Prepare Presentations

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Progress Presentations

  • November
  • February
  • April

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Division of Labor

Ethan Hoerr Dakota Mahan Alex Vallejo ADC Image Processing Hardware Skywalker Interface with Microcontroller Ardrone setup Logic Analyzing

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Societal and Environmental Impacts

  • Who is affected?
  • What is the affect of our project on natural

resources?

  • Is development of our product safe?
  • Is the development of our product ethical?
  • What is the effect of the project on human

welfare and on human rights?

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Societal and Environmental Impacts cont.

  • What could go wrong?
  • What is the potential that the outcome of our

project will contribute to accidents and harm?

  • Is our product safe?
  • How can it be made safer?
  • Is it safe for children and disabled persons?
  • Is it easy or likely to be used in an unsafe way?

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Societal and Environmental Impacts cont.

  • Can this product be used unlawfully and

unethically?

  • What is the risk to the consumer?
  • What is our potential liability?
  • How could customers be made aware of the

risks?

  • How does the risk compare to the present

situation in the market?

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Conclusion

  • Background
  • Design Approach & Methods of Solution
  • Economic Analysis
  • Division of Labor
  • Societal & Environmental Impacts

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Flowchart (Mothership)

  • Initialize Sensors (IMU & Front

Camera)

  • Manual vs Automatic (Autopilot)
  • Collision Detection
  • GPS Waypoints

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Flowchart (Drones)

  • Initialize ADC MUX & Sensors

(Emitters/Receiver)

  • Manual vs Automatic (Autopilot)
  • Sensors
  • PID Control Loop

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References

  • http://en.wikipedia.org/wiki/

Mass_production

  • http://forum.arduino.cc/index.php?

topic=122014.0

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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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