Development of a Mini-UAV for Urban Environments Tony Dodd and Beniamin Apopei

20 February 2007IET Seminar on Micro UAVs Overview The urban environment The challenges Quadrotor MAV Future plans

20 February 2007IET Seminar on Micro UAVs Platform development Control, mission planning, co-operative UAVs Simulation/hardware-in-the-loop co-simulation Communications (wireless, fibre optics) Smart and morphing structures Advanced composites Aerodynamics and design optimisation Energy management

20 February 2007IET Seminar on Micro UAVs Industrial links/projects Three Rolls-Royce UTCs Boeing sponsored AMRC ASTRAEA Blue Bear Systems Research Home Office EADS SEAS DTC?

20 February 2007IET Seminar on Micro UAVs UG/MSc Projects Technology carrier platform MAV group project Autonomous control (inertial and GPS) …

20 February 2007IET Seminar on Micro UAVs WUN Intelligent UAV Group 19 research led universities UK, Europe, US, China, Australia, Canada Brings together world’s leading experts Collaboration, funding and exchange

20 February 2007IET Seminar on Micro UAVs Urban Applications Security Military Communications relay Pollution monitoring Police and surveillance Traffic monitoring Fire brigade Search and rescue Crowd control Building inspection Mapping...

20 February 2007IET Seminar on Micro UAVs MoD Grand Challenge “Create a system with a high degree of autonomy that can detect, identify, monitor and report a comprehensive range of military threats in an urban environment” [7] [7]

20 February 2007IET Seminar on Micro UAVs The Urban Environment [1]

20 February 2007IET Seminar on Micro UAVs The Urban Environment [1] [2]

20 February 2007IET Seminar on Micro UAVs The Urban Environment [1] [2] [3]

20 February 2007IET Seminar on Micro UAVs The Urban Environment [1] [2] [3]

20 February 2007IET Seminar on Micro UAVs The Challenges Simultaneous location and mapping (SLAM) Autonomous/semi-autonomous control Collision avoidance Gusting and turbulence Reliable wireless communications Stealth Power and energy management User interface/mission management Portable

20 February 2007IET Seminar on Micro UAVs Urban UAVs Fixed wing – OTH reconnaissance (superior range and endurance) [6]

20 February 2007IET Seminar on Micro UAVs Urban UAVs Fixed wing – OTH reconnaissance (superior range and endurance) Rotary wing – urban operation (between and inside buildings)

20 February 2007IET Seminar on Micro UAVs Urban UAVs Fixed wing – OTH reconnaissance (superior range and endurance) Rotary wing – urban operation (between and inside buildings) Advanced rotary/flapping wing (indoors) [5]

20 February 2007IET Seminar on Micro UAVs Urban UAVs Fixed wing – OTH reconnaissance (superior range and endurance) Rotary wing – urban operation (between and inside buildings) Advanced rotary/flapping wing (indoors) Lighter than air? [4]

20 February 2007IET Seminar on Micro UAVs Quadrotor MAV Design requirements: VTOL Stable and highly manoeuvrable All electric Indoor and outdoor operation Flight time > 10 min MTOW > 3.5kg (initial prototype > 400g) Portable and robust

20 February 2007IET Seminar on Micro UAVs Why Quadrotor? Very efficient – all power to lift Better payload/size ratio – compact More stable More manoeuvrable More robust/fault tolerant

20 February 2007IET Seminar on Micro UAVs COTS Components Sensors Inertial measurement unit GPS Firewire cameras Ultrasonic Laser Power Brushless motors Tilting, counter-rotating props (+ configuration) Lithium polymer batteries Structure Glass and carbon fibre chassis Processing Microcontroller Dual FPGA-DSP processors (Firewire ports) [8] [9] [10]

20 February 2007IET Seminar on Micro UAVs Quadrotor Prototype I

20 February 2007IET Seminar on Micro UAVs IMU Development COTS gyros and accelerometers (Analog Devices) Gyros deg/s Accelerometers - 2g PCB design Analogue to digital conversion by microcontroller Very low cost < £200

20 February 2007IET Seminar on Micro UAVs Simulation and control

20 February 2007IET Seminar on Micro UAVs Simulation and control Lyapunov stability analysis – hovering operating point Input coupling/correlation analysis Hovering control Nonlinear control – simulation Tuned PID – simulation and real

20 February 2007IET Seminar on Micro UAVs User interface

20 February 2007IET Seminar on Micro UAVs Quadrotor Prototype II

20 February 2007IET Seminar on Micro UAVs Tiltrotor Mechanism

20 February 2007IET Seminar on Micro UAVs Video

20 February 2007IET Seminar on Micro UAVs Future plans Technical challenges Sensor fusion Navigation and collision avoidance SLAM Active/passive vibration suppression User interface/mission management Batteries and structure Testing and applications

20 February 2007IET Seminar on Micro UAVs References [1] [Accessed 2 February 2007] [2] emmerle/ [Accessed 2 February 2007] [3] [Accessed 2 February 2007] [4] [Accessed 2 February 2007] [5] [Accessed 2 February 2007] [6] [Accessed 2 February 2007] [7] [Accessed 3 February 2007] [8] [Accessed 3 February 2007] [9] [Accessed 3 February 2007] [10] [Accessed 3 February 2007]