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Published byLuke George Modified over 9 years ago
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By: Eric Backman Advisor: Dr. Malinowski
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Introduction Goals Project Overview and Changes Work Completed Updated Schedule
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Stable Hovering Autonomous take offs and landings Manual control using joystick Collision Avoidance Color Recognition
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Removed use of camera and color recognition due to time constraints Will focus on more accurate distance measurements Be able to quickly stop within 5 cm of a specific distance from wall
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Overall System Requirements ◦ Quadrocopter can take off and land autonomously ◦ Limit power to maximize time of flight ◦ Able to maintain distance from wall with error +/- 5 cm Infrared Sensor Requirements ◦ Sense distance to all objects within at least 1 meter with accuracy of 1 cm ◦ Distance sent to microprocessor from 6 sensors at least every millisecond
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Atmega168 Microprocessor Requirements ◦ Read the distance sensor voltage with accuracy equivalent to at least 1 cm ◦ Send distance sensor data to BeagleBoard at least every 10 ms using serial port ◦ Create Pulse Width Modulation signal of 50 Hz that has at least 10 us resolution BeagleBoard Requirements ◦ Update command PWM settings every 20 ms using sensor and joystick inputs
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Due to the angle of the Quadrocopter, sensors will give longer distances This will be fixed by using the command to estimate angle Will use this to accurately stop at a specific distance from the wall going at varying speeds
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If a 1.25 ms pulse corresponds to a 22.5° angle and it has been running a 25% duty cycle for a certain amount of time This method depends on accuracy of angle measurements
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Design Atmega168 processor programming: ◦ 6 analog channels to ADC w/ sensor resolution.98 cm ◦ 4 channels of PWM w/ 10 us resolution @ 50Hz ◦ UART Serial Communication Beagleboard programming ◦ Serial communication ◦ UDP network connection Remote controller programming ◦ UDP network connection
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Software took much longer than expected ◦ Analog to digital converter on Atmega 168 needs capacitor for accuracy, not well documented ◦ Various serial port issues Removal of camera means the project is still on track to be finished
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Mount hardware Atmega168 processor programming: ◦ Revising code after integration with quadrocopter Beagleboard programming ◦ Mapping joystick to PWM control Revising code after integration with quadrocopter ◦ Collision avoidance ◦ Autonomous emergency landing Remote controller programming ◦ Joystick
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March 7 – Mount hardware March – Final software debugging and initial flight testing April – Work on getting accurate distances and collision avoidance Late April – Project analysis and Final report
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