Autonomous Quadrotor Navigation & Guidance

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Presentation transcript:

Autonomous Quadrotor Navigation & Guidance Jonathan Blythe Krzysztof Borowicz Alyssa Hollander

Applications Mapping out a forest fire Search and rescue inside of a building Crop dusting UAV delivery Troop movement tracking https://thenypost.files.wordpress.com/2013/12/amazon-drone.jpg Quadrotor Autonomous Navigation & Guidance

Project Goal Achieve real world execution of a planned route using vision-based guidance Quadrotor Autonomous Navigation & Guidance

Quadrotor Actions and Abilities Maintain constant flight altitude Identify ground markers using on-board optics Autonomously navigate from marker to marker Identify “no fly” zones Take fasted path out of zone to closest marker Increase precision when near restricted zones Land when lost Manual override Quadrotor Autonomous Navigation & Guidance

System Block Diagram Quadrotor Autonomous Navigation & Guidance

Sensor Options Quadrotor Autonomous Navigation & Guidance http://www.robotshop.com/en/maxbotix-ez4-high-performance-sonar.html http://www.robotshop.com/media/catalog/product/cache/1/image/800x800/9df78eab33525d08d6e5fb8d27136e95/o/p/optic-5-24ghz-5-channel-radio-control-system_1.jpg https://s3.amazonaws.com/3dr.production/908/large/Pixhawk_Top2.png?1441214865) https://pixhawk.org/_detail/modules/px4flow-bottom.jpg?id=modules%3Apx4flow https://www.adafruit.com/images/970x728/1367-09.jpg https://s3.amazonaws.com/3dr.production/1105/large/GPS_Top.jpg?1441214848 https://s3.amazonaws.com/3dr.production/1473/large/Telemetry_915_kit.jpg?1441214954 https://www.raspberrypi.org/wp-content/uploads/2015/01/Pi2ModB1GB_-comp.jpeg Quadrotor Autonomous Navigation & Guidance

Project Timeline A-Term B-Term C-Term D-Term 1 MQP Presentation 2 3 4 WEEK A-Term B-Term C-Term D-Term 1 Goals and Objectives Literature Review/Methodology Draft Code and Programming, System Integration, Methodology Revisions Autonomous Flight Testing, Debugging, Paper Draft MQP Presentation 2 Back Ground/Equipment Research 3 Purchase Equipment 4 Programming/Interface Software Research 5 Assembly Results Section Final Version of Paper, Final Flight Tests 6 Modifications 7 General Aircraft Flight Test 8 Final Body Adjustments Quadrotor Autonomous Navigation & Guidance

Division of Labor Quadrotor Autonomous Navigation & Guidance Week Jonathan Alyssa Krzysztof Group 3 Reverse Engineering Code System Power Draw Analysis 4 Code Editing Flight Time Optimization Chart Development Quadrotor Assembly 5 Code for Marker Recognition Marker Development Flight Testing Quadrotor Autonomous Navigation & Guidance

Questions