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Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)

Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR). Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll. Outline. Project Summary Previous Work Preliminary Work Quadcopter Investigation Equipment and Parts List Block Diagram

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Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)

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  1. Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR) Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll

  2. Outline • Project Summary • Previous Work • Preliminary Work • Quadcopter Investigation • Equipment and Parts List • Block Diagram • Ultrasonic Sensor • GPS • Schedule Overview

  3. Project Summary • Human Tracking • Gesture Recognition • Live Video Feed & Data Readings via Wifi • Obstacle Avoidance and Auto-Stabilization • R/C Manual Override

  4. Human Tracking • GPS • Image Processing

  5. Gesture Recognition • BeagleBone Black • I2C Communication Camera • Bicycle Hand Signal • Increase Following Distance • Decrease Following Distance • Land

  6. Live Video Feed & Data Readings via Wifi • Video Captured by Camera • GPS Data

  7. Obstacle Avoidance and Auto-Stabilization • Ultrasonic Sensing • Image Processing • Inertial Measurement Unit

  8. R/C Manual Override • Required by FFA • Turnigy Power System 9X 2.4G 9 Channel Controller • R/C MUX Circuit

  9. Previous Work • Junior Project • GPS Receiver • ATmega Based Microcontroller • Introduction to NMEA Messages • Serial Communication via UART for GPS Data

  10. Previous Work • Junior Project • Sharp Infrared Sensors for Edge Detection • ATmega128 Microcontroller • Roboboat Senior Project • Moving Average Low-Pass Filter

  11. Preliminary Work • Quadcopter Investigation • Equipment and Parts List • Block Diagram • Ultrasonic Sensor • GPS

  12. Quadcopter Investigation • Two ESC Failures • Lack of Information/Poor Documentation • Black Box Controllers • FC1212-S (Flight Controller) • AHRS-S (IMU)

  13. Considered Alternative Options • Option 1 - Repair X650CF, New XAircraft Parts • Option 2 - Keep X650CF Frame, New Generic Parts • Option 3 - Purchase a New Quadcopter • APM:Copter • ELEV-8 Parallax • Parrot AR Drone • DJI Phantom

  14. Summary of Considerations

  15. Current XAircraft Quadcopter Most Cost Effective Assembled RTF Platform Minor Tests Required for Flying Condition Platform Chosen

  16. Equipment and Parts List • ATmega Microprocessor • Beagle Bone Black • XL-MaxSonar-EZ3 (MB1230) Ultrasonic Sensor • Adafruit 66 Channel MTK3339 GPS Breakout Board V3

  17. Block Diagram

  18. Ultrasonic Sensor Specifications • XL-MaxSonar-EZ3 Ultrasonic Sensor • Size: 2.2cm x 2.0cm x 2.5cm (6.1g) • Range: 20cm - 750cm (datasheet) • Lab Test: Max Distance = About 500cm • Reading rate: 10 Hz • Travel Limitation w/ Six Ultrasonic Sensor = 8.3m/s

  19. Preliminary Work - Ultrasonic Sensor • PWM Signal Output • Low Pass Filter of Signal • Analog Signal Output and ADC • Low Noise Chaining of Multiple Sensors

  20. Low Noise Chaining Diagram

  21. Adafruit GPS Specifications • Sensitivity: -165dBm • Typically around -160 or -165dBm • Update Rate: 10Hz Max • Standard ≥ 1Hz • Position Accuracy: 1.8m • Velocity Accuracy: 0.1m/s

  22. Preliminary Work - Adafruit GPS • Program for ATmega328P • Shift to BeagleBone Black

  23. Schedule Overview Ultrasonic Sensor Testing - 12/07/2013 Quadcopter Manual R/C Flight - 12/10/2013 Quadcopter Autonomous Flight - 2/6/2014 GPS Waypoint Implementation - 2/20/2014 Obstacle Avoidance - 4/08/2014 Gesture Recognition - 05/06/2014

  24. Questions?

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