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Autonomous Quadrocopter Design Review

Autonomous Quadrocopter Design Review. Brad Bergerhouse, Nelson Gaske, Austin Wenzel Dr. Malinowski. Outline. Original Goals Abridged Project Description Progress Revised Goals Current Schedule and Milestones. Outline. Original Goals Abridged Project Description Progress

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Autonomous Quadrocopter Design Review

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  1. Autonomous Quadrocopter Design Review Brad Bergerhouse, Nelson Gaske, Austin Wenzel Dr. Malinowski

  2. Outline • Original Goals • Abridged Project Description • Progress • Revised Goals • Current Schedule and Milestones

  3. Outline • Original Goals • Abridged Project Description • Progress • Revised Goals • Current Schedule and Milestones

  4. Original Goals • Implement backup fly-by-wire controls for safety and testing • Avoid obstacles using video and sensor feedback • Autonomously navigate through narrow passages using onboard sensors • Develop a quadrocopter platform for future senior projects

  5. Outline • Original Goals • Abridged Project Description • Progress • Revised Goals • Current Schedule and Milestones

  6. Functional Description • Interface BeagleBoardwith XAircraft X650 Quadrocopter platform • Use BeagleBoard I/O to interface with sensors and remote controls • Develop passage following algorithm using minimal sensor input • Utilize image processing techniques for navigational purposes and goal criteria

  7. System Diagram

  8. Outline • Original Goals • Abridged Project Description • Progress • Revised Goals • Current Schedule and Milestones

  9. Progress • Platform Arrived. Assembly is complete, we are now working on a rotor guard solution • Close to having a working PWM solution • We have started on I2C • 5V regulator is ready for installation • SUSAN corner detection on imagesin progress

  10. Completed Platform

  11. Quadrocopter Building

  12. Rotor Guards

  13. General DSP flowchart

  14. SUSAN corner detection

  15. Hindrances to Progress • BeagleBoard documentation (or lack there of) • Lack of standardized interfaces for major hardware components • Cross compiling kernel issues

  16. Attempts to output PWM to GPIO pins • Bash Script • C code • Servodrive kernel module • Openembedded • Bitbake

  17. Outline • Original Goals • Abridged Project Description • Progress • Revised Goals • Current Schedule and Milestones

  18. Revised Goals • Use sensors to avoid obstacles • Use camera to observe navigational marking and goal criteria • Fly-by-wire

  19. Outline • Original Goals • Abridged Project Description • Progress • Revised Goals • Current Schedule and Milestones

  20. Original Schedule

  21. Revised Schedule

  22. Questions?

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