Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex - PowerPoint PPT Presentation

Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Tuesday, February 24, 2014

2 Project Objectives • Efficiency • Flocking • Safety • Autonomy

3 System Block Diagram (Mothership) Alexander Valeljo Dakota Mahan Mother Ship Ethan Hoerr Team Effort Hardware Software Front Facing HD Camera/Bottom Facing Camera/ Auto & Manual GPS Collision Pilot Drones Color Recognition Avoidance Based on Camera 3 Feed to PC

4 System Block Diagram Alexander Valeljo (Drones) Dakota Mahan Drones Ethan Hoerr Team Effort Autopilot through Atmega328P transceiver/ transmitter 808 Pinhole Barometer Camera PC Relay/ RGB LED Camera 4

5 Ethan’s Tasks

6 Ethan’s Tasks 6

7 Problems • Use Logic Analyzer feature of oscilloscope • Interpreting SPI data • Inconsistent binding when using ATmega328P to directly communicate with BK2421 wireless transceiver 7

8 Ethan’s Tasks 8

9 Work Accomplished • Determine Hak909 Handset joystick potentiometer profile Measured Joystick Joystick Resistances (ohms) Yaw 4757 Throttle 4595 Roll 4912 Pitch 4313 Average: 4644.25 9

10 Work Accomplished • Digital Potentiometer Selection: • 5kΩ potentiometer • SPI interface • 128, 256, or more taps • Single, dual, or quad pots per chip • Microchip MCP4251-502E/P • Two digital pots per chip: similar to two pots per joystick • 5kΩ, SPI, 256 -taps, daisy-chain compatible 10

11 Ethan’s Tasks

12 Work Accomplished • Interface MCP41XX (10kΩ, 256 -tap, single pot) digital potentiometer with ATmega328P over SPI • Sweep from 0 to 10kΩ, wiper voltage out 0 -5V: 12

13 Work Remaining • Assemble digital potentiometer circuit J1 1 14 ATmega328P Pin 10 CS VDD ATmega328P 5V 2 13 ATmega328P Pin 13 SCK SDO 3 12 ATmega328P Pin 11 SDI SHDN 4 11 ATmega328P GND Vss WP 5 10 P1B P0B 6 9 P1W P0W 7 8 P1A P0A V_Handset1 V_Handset 3.50Vdc 3.50Vdc Joystick_1 Wiper Joystick_2 Wiper MCP4251-502E/P J2 1 14 ATmega328P Pin 10 CS VDD ATmega328P 5V 2 13 ATmega328P Pin 13 SCK SDO 3 12 ATmega328P Pin 11 SDI SHDN 4 11 ATmega328P GND Vss WP P1B 5 10 P0B P1W 6 9 P0W P1A 7 8 P0A V_Handset3 V_Handset2 3.50Vdc 3.50Vdc Joystick_3 Wiper MCP4251-502E/P Joystick_4 Wiper 13

14 Ethan’s Tasks 14

15 Work Remaining • Write ATmega328P code to address 4 joysticks (daisy-chain 6 total SPI devices) • Receive control parameter values via USART from Dakota’s image processing code • One byte each for throttle, pitch, yaw, roll • Translate to 8-bit value to send to digital pots 15

16 Anticipated Problems • Image processing to quadcopter control • Need to minimize delay between two systems • Default digipot positions on handset powerup • Throttle: MUST be zero! • Yaw, pitch, roll: neutral position 16

17 Previous Work • 808 Camera(Relay & Transistor) • Pay Load Testing • LED Testing • BMP 180 17

18 Alex’s Tasks

19 Work Accomplished • 808 Camera • Changes • Shutter • Power Button • Timer • Error: • Test Camera(1 Second Picture Time) • Current Cameras Fastest 5 Second Time • Power Button • Original Design 19

20 Work Accomplished • Stitching Software(Hugin) • GIMP (Auto Cropping Script) 20

21 Alex’s Tasks

22 Work Accomplished • BMP 180 • Sparkfun(Feet) • Coded Timers and added LED statements into BMP File • LEDs • Red – Under 15 Feet 2.2V • Blue – Greater than 25 3.2V • 7805 • Testing Voltage Levels from 9V Li Ion Battery. 22

23 Alex’s Tasks

24 Work Accomplished 9 V Rechargeable 7805 Battery 10k Ohm • Designing Circuit 5V Reset A5(PC5) A4(PC4) B3F • RGB LED Button • 5V Regulator • Reset Button 5V VCC GND • Microcontroller AVCC GND CL DA - + BMP 180 5V • Power Source Atmega 328P 3.3V • BMP 180 5V 100 Ohm 200 Ohm • PerfBoard Pin 17 PB3 • Error: (2.2V) 150 Ohm 120 Ohm • Mis-Soldering Red Led 2.2V Pin 16 PB2 (3.2V) 0 100 Ohm 180 Ohm 24 Blue LED 3.2V

25 Work Remaining • Payload Test • Arial Testing(Camera) • Battery Testing(200mAh) • BMP - 5uA(Peak 650 uA) • RGB LED(30 mA) • Buttons/resistors(~50mAh) • Atmega328P(12.68 mA at 8Mhz) • Stitching Software testing • Work on Team Goals(Auto-Pilot, Navigation, Parallelism) 25

26 Previous Work Red, Green, Blue color detection

27 Dakota’s Tasks

28 Work Accomplished

29

30 Dakota’s Tasks

31 Image Processing • Gaussian Blur • Gaussian Sharpening • Bilateral Filter • Laplace Filter • OpenCV’s Find and Draw Contours

32 Image Processing Image Processing Flow Chart

33 Original Image Work Accomplished

34 Bilateral Filter Work Accomplished

35 Gray Scale Work Accomplished

36 Laplace Filter Work Accomplished

37 Subtraction Work Accomplished

38 OpenCV Find Contours/Draw Contours Work Accomplished

39 Dakota’s Tasks

40 Work Accomplished • USART over USB to Ethan’s microcontroller code • Thrust and Movement Commands

41 Dakota’s Tasks

42 GPS • GPS Data Acquisition from Parrot’s GPS

43 Work Remaining • Threshold Value in RGB, CYM • GPS Movement • Drone Movement

44 References • Smoothing Images [Online], OpenCV, Available: http://docs.opencv.org/trunk/doc/py_tutorials/py_imgproc/py_filtering/ py_filtering.html • Enhancing Image Sharpness [Online], TutorialsPoint, Available: http://www.tutorialspoint.com/java_dip/enhancing_image_sharpness. htm • Laplacian Operator [Online], TutorialsPoint, Available: http://www.tutorialspoint.com/java_dip/applying_laplacian_operator.h tm • Wiley, Keith, “How Unsharp Masking and Laplacian Sharpening Work” [Online] Available: http://keithwiley.com/astroPhotography/imageSharpening.shtml

Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE