Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson Anders Nelson (EE) Mathew Wymore (CprE) Kale Brockman Stockli Manuel Kshira Nadarajan (CprE) Mazdee Masud (EE) Andy Jordan Karolina Soppela 491 Team Component 466 Team Component 1
1. International Aerial robotics Competition – AUVSI 2. Autonomous flying robot 3. Stability, obstacle avoidance 4. Extensible for future development – SLAM, vision etc. Source: AUVSI. International Aerial Robotics Competition. Retrieved on 11/14/2010 from 2
Control System Main controller Motor controller Sensor System Inertial Measurement Unit (IMU) Cameras, Range Finders Will not be selected by us. Communications System Software System Power System 3
Main Controller (Gumstix Overo) USB Host stack (laser) I2C (motor controller) Linux (ease of use) Motor controller (16-bit PIC) Serial I/O (IMU) PWM out (ESCs) I2C (main controller) 4
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Positioning System Issues commands to motion controller Motion Control and Heading*: Acquires commands from positioning system Translates commands to motor signals Obstacle avoidance module: Reads current sensor data Identifies immediate obstacles and avoids them 7*Process marked in Red indicates implementation in motor controller rather than main controller
Inertial Measurement Unit (IMU) Takes in 9 DOF measurements Outputs to Motor Microcontroller through serial interface External Sensors IR/sonar sensors ▪ For basic obstacle avoidance ▪ Used as a fail safe for navigation system Range Finders and Vision Systems ▪ To be selected by later teams for SLAM 8
RF System WiFi integrated into main controller Base station communication RC Hobby System Allows manual control Comes into motor controller 9
LiPo Battery 11.1V 6000 ~ 6500 mAh 20 C Maximum (Continuous Discharging) 3 Cell Serial Connection 11.1V (Combination of three single cell/one single & one 2 cell battery) 6000 ~ 6500 mAh/cell 20 C Maximum Parallel Connection 11.1 V/cell 6000 ~ 6500 mAh (Combination of three single cell/one single & one 2 cell battery) 20 C Maximum 10
Stability Test motor stability control with varying degrees of external disturbance and record response Communication Test distance and speed of communication between platform and remote base Flight Control Determine accuracy of movement from various control commands Obstacle Avoidance Determine reliability and accuracy of obstacle avoidance from movement in various directions Endurance (Power) Will run the battery under expected load while monitoring voltage over time 11
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