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ECE 477 Senior Design MRAV – Multi Rotor Autonomous Vehicle

ECE 477 Senior Design MRAV – Multi Rotor Autonomous Vehicle. Team 9 April-29-2011. Project Overview. Quad-rotor helicopter Autonomously self-stabilizes PID Control Theory Sensor Fusion Triple Axis Accelerometer Triple Axis Gyroscope Triple Axis Magnetometer Barometric Pressure

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ECE 477 Senior Design MRAV – Multi Rotor Autonomous Vehicle

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  1. ECE 477 Senior DesignMRAV – Multi Rotor Autonomous Vehicle Team 9April-29-2011

  2. Project Overview • Quad-rotor helicopter • Autonomously self-stabilizes • PID Control Theory • Sensor Fusion • Triple Axis Accelerometer • Triple Axis Gyroscope • Triple Axis Magnetometer • Barometric Pressure • Ultrasonic Range Finders • GPS • Communicates with ground station using Xbee wireless

  3. Project Overview [Cont’d]

  4. Project Overview [Cont’d]

  5. Design Challenges Faced • I2C Communication Protocol • Floating Point Arithmetic • Wireless Communications • PID Control Theory and Application • Huge amount of code  Debugging • High RAM usage

  6. ECE270/362 Knowledge Used • Power Requirements / Chip Selection / Reading Data Sheets • Using IDE and Programming Microcontrollers • Microcontroller Peripherals • ADC • PWM • I2C • SPI

  7. Project Demohttp://www.youtube.com/watch?v=eZEt1d70CV4

  8. The END

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