Draft Design May 11-10: Autonomous UAV Competitio n

1. Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson 491 Team Component Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu Kale Brockman kaleb@iastate.edu StockliManuel stockli@iastate.edu KshiraNadarajan (CprE) kshira90@iastate.edu MazdeeMasud (EE) mmasud@iastate.edu Andy Jordan andyjobo@iastate.edu Karolina Soppela soppela@iastate.edu Draft Design May 11-10: Autonomous UAV Competition 466 Team Component

2. Unmanned Aerial Vehicle • International Aerial robotics Competition – AUVSI • Autonomous flying robot • Stability, obstacle avoidance • Extensible for future development – SLAM, vision etc. Source: AUVSI. International Aerial Robotics Competition. Retrieved on 11/14/2010 from http://iarc.angel-strike.com/index.php.

3. System Decomposition • Control System • Main controller • Motor controller • Sensor System • Inertial Measurement Unit (IMU) • Cameras, Range Finders • Will not be selected by us. • Communications System • Software System • Power System

4. Control System • Main Controller (GumstixOvero) • USB Host stack (laser) • I2C (motor controller) • Linux (ease of use) • Motor controller (16-bit PIC) • Serial I/O (IMU) • PWM out (ESCs) • I2C (main controller)

6. Software Flow Diagram

7. Software System • Positioning System • Issues commands to motion controller • Motion Control and Heading*: • Acquires commands from positioning system • Translates commands to motor signals • Obstacle avoidance module: • Reads current sensor data • Identifies immediate obstacles and avoids them *Process marked in Red indicates implementation in motor controller rather than main controller

8. Sensor System • Inertial Measurement Unit (IMU) • Takes in 9 DOF measurements • Outputs to Motor Microcontroller through serial interface • External Sensors • IR/sonar sensors • For basic obstacle avoidance • Used as a fail safe for navigation system • Range Finders and Vision Systems • To be selected by later teams for SLAM

9. Communications System • RF System • WiFi integrated into main controller • Base station communication • RC Hobby System • Allows manual control • Comes into motor controller

10. Power System • LiPo Battery • 11.1V • 6000 ~ 6500 mAh • 20 C Maximum (Continuous Discharging) • 3 Cell • Serial Connection • 11.1V (Combination of three single cell/one single & one 2 cell battery) • 6000 ~ 6500 mAh/cell • 20 C Maximum • Parallel Connection • 11.1 V/cell • 6000 ~ 6500 mAh (Combination of three single cell/one single & one 2 cell battery) • 20 C Maximum

11. Test Plan • Stability • Test motor stability control with varying degrees of external disturbance and record response • Communication • Test distance and speed of communication between platform and remote base • Flight Control • Determine accuracy of movement from various control commands • Obstacle Avoidance • Determine reliability and accuracy of obstacle avoidance from movement in various directions • Endurance (Power) • Will run the battery under expected load while monitoring voltage over time

12. Current Status

13. Questions ?