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

Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Thursday, April 9, 2015

2 Problem Statement • Using multiple UAV coordination, this project seeks to create an overhead image map of the Bradley Alumni Quad.

3 Overview • Objectives • Background • System Block Diagram • Requirements • Specifications • Results • Subsystems • System Results

4 Objectives - Autonomous 1. Able to fly in a flock point to point in all conditions; able to map efficiently in all conditions 2. Able to fly in a flock point to point and map efficiently, however in the worst conditions the flock breaks apart and/or maps poorly 3. Able to fly in a flock point to point; unable to map efficiently 4. Able to fly individually point to point; unable to fly in a flock 5. Controlled manually

5 Objectives - Parallel 1. Always able to fly in a flock 2. Able to fly in a flock in all but the worst conditions 3. Unable to flock in adverse conditions, otherwise flocks 4. Flocks in near perfect conditions, otherwise unflockable 5. Not flockable in any conditions

6 Objectives - Safety 1. Able to fly without causing injury in all conditions; able to be remotely shut off in all conditions, 2. Able to fly without causing injury in all but the worst conditions; able to be shut off remotely in all conditions 3. Able to fly without causing injury in most conditions; able to be shut off remotely in all conditions 4. Able to fly without causing injury in most conditions; able to be shut off remotely in most conditions 5. Unable to fly without causing an injury to others, unable to be shut off remotely.

7 Objectives - Efficiency 1. Able to get to the goal in all but the worst conditions; able to do multiple runs 2. Able to get to the goal in all but the worst conditions 3. Unable to get to the goal in adverse conditions; otherwise is able to complete its task 4. Only able to complete its goal in near perfect conditions, otherwise is unable to complete its goal 5. Uses up all battery power before completing its goal

8 Background • Laplacian Filter[1] • Bilateral Filter[2] • Green Ball Tracking[3]

9 Background • Barometer[4] • How the Barometer works • How to read data and convert to altitude • Camera[5] • How the camera circuit works • What the capabilities of the camera are • Which versions work

10 Background • Controlling Toy Quadcopter with ATmega328P [7]

11 Mother Ship (AR Drone 2.0) Alexander Vallejo Dakota Mahan Mother Ship Ethan Hoerr Team Effort Hardware Software Bottom & Front Facing Cameras/ GPS Auto & Manual GPS Navigation & Color Recognition Pilot Drones Obstacle & Edge Detection Based on Camera Avoidance Feed to PC

12 Drones(Hak 909) Alexander Vallejo Dakota Mahan Drones Ethan Hoerr Team Effort Autopilot Atmega328P through potentiometer External Barometer Timer PC Camera RGB LED

13 Non-Functional Requirements • Navigate and create an overhead image map of Bradley Alumni Quad • Quadcopters must communicate with one another • Avoid collision • Maintain group formation • Aerial images from flight must be merged into one composite image

14 Functional Requirements • Quadcopters must be equipped with manual override control • Make use of at least 3 quadcopters

15 Interface Specifications • Drones will communicate height status with mother ship by LED • Control program will send commands to follower drones

16 Color Detection

17 Color Detection • Functional Requirement: downward facing camera shall track the movement and position of the follower drones • Specification: Drones must be recognizable within two meters

18 Color Detection

19 Edge Detection

20 Edge Detection • Functional requirement: Drones must avoid collision • Specification: The front facing camera can detect objects between 1- 10 meters

21 Edge Detection

22 GPS Magentometer Fusion

23 GPS Magnetometer Fusion • Functional Requirement: Project must navigate and create map of the Bradley Alumni Quad • Specification: 6096 meters squared area

Feet GPS Magnetometer Fusion 10 15 20 25 0 5 1 10 19 28 37 46 55 64 73 82 91 100 109 118 127 136 145 154 163 172 181 190 199 208 217 GPS Error From Center 226 235 244 253 262 Iteration 271 280 289 298 307 316 325 334 343 352 361 370 379 388 397 406 415 424 433 442 451 460 469 478 487 496 505 514 523 532 541 24

25 Hardware Design • Altitude Sensing • Parallel Mapping • Battery Life • 9V Battery & 4.2 V Lithium Polymer • Weight Limitations

26 Altitude Sensing • Functional Requirement: Detect and Communicate Altitude • Barometer BMP 180 from Bosch [4] • Atmega328P Microcontroller • 10 MM Red and Blue

27 Camera • Functional Requirement: • Autonomously • 808 Pinhole Camera [5] • Shutter Button

28 Stitching Software • Parallel Map • Photoshop • Timestamp • Merge

29 Battery Life • Weight Limits • Hak 909 • Camera • Circuit

30 9 V(7.2V) 7805 Rechargeable Battery 5V 10k Ohm Reset A5(PC5) A4(PC4) B3F Button GND 5V VCC CL DA - + AVCC 5V GND BMP 180 Atmega 328P 200 Ohm 100 Ohm 120 Ohm Circuit Schematic Pin 3.3V 10(2.2V) 100 Ohm 100 Ohm 5V Red LED Pin 180 Ohm 11(3.2V) 0 (Shutter Button) Blue LED Pin 12 Camera

31 Completed Circuit

32 Subsystem Block Diagram: Digital Control Serial Monitor ATmega328P SPI Hak909 Handset Handset Hak909 BK2421 MCU Analog- Handset SPI Wireless to-Digital MCU Transceiver Converter 2.4GHz Wireless Quadcopter Quadcopter Quad Rotor BK2421 Control SPI Control Wireless Board Transceiver

33 Functional Requirements 1. Control messages will be sent through a microcontroller interfaced to radio transceivers paired with each follower UAV Specification: MCU will control digital potentiometers which shall vary the throttle, yaw, pitch and roll on the Hak909 controller across their entire range of motion.

34 Functional Requirements 2. Drones must be equipped with manual override control Specification: Kill switch will be present on each quadcopter controller.

35 Functional Requirements 3. Control program will receive control commands to be sent to follower UAVs Specification: MCU program will interpret data packets sent from control program, to be sent to Hak909 controllers.

36 Subsystem Test Results • Interfaced digital potentiometer with Hak909 controller • Able to vary joystick resistance across entire range of motion Pitch & Roll Throttle & Yaw

37 Subsystem Test Results • Able to send control commands to Hak909 quadcopter

38 Subsystem Test Results • Modify control parameters with serial port on computer

39 Subsystem Test Results • Kill switch functionality verified

40 Conclusion • System Test Results • Unable to test complete system • Color Detection • Edge Detection • Hardware Design/Implementation • Digital Control

41 Work Cited [1] D. Marr, E. Hildreth Proc. R. Soc. Lond. B 1980 207 187-217; DOI:10.1098/rspb.1980.0020. Published 29 February 1980 [2] R. Manduchi and C. Tomasi , “Bilateral Filtering for Gray and Color Images” in IEEE International Conference on Computer Vision, Bombay, India, 1998, pp. 839-846 [3] S. D. Levy and J. Stough, AR.Drone AutoPylot [Online]. Available: http://home.wlu.edu/~levys/software/ardrone_autopylot/ [4] https://learn.sparkfun.com/tutorials/bmp180-barometric-pressure-sensor-hookup- [5] http://www.rc-cam.com/bitsw.htm [6] http://www.chucklohr.com/808/C8/index.html [7] http://dzlsevilgeniuslair.blogspot.com/2013/11/more-toy-quadcopter-hacking.html [8] http://www.chucklohr.com/808/C3/Sven/1007Sven.html

Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alexander Vallejo Team Advisor: Dr. Driscoll Depart: Bradley ECE Thursday, April 9, 2015