draft design may 11-10: autonomous uav competitio n

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Draft Design May 11-10: Autonomous UAV Competition

Client: Space Systems & Controls Laboratory (SSCL)Advisor : Matthew Nelson

Anders Nelson (EE)anelson7@iastate.edu

Mathew Wymore (CprE)mlwymore@iastate.edu

Kale Brockmankaleb@iastate.edu

Stockli Manuelstockli@iastate.edu

Kshira Nadarajan (CprE)kshira90@iastate.edu

Mazdee Masud (EE)mmasud@iastate.edu

Andy Jordanandyjobo@iastate.edu

Karolina Soppelasoppela@iastate.edu

491 Team Component

466 Team Component

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Unmanned Aerial Vehicle

1. International Aerial

robotics Competition –

AUVSI

2. Autonomous flying robot

3. Stability, obstacle

avoidance

4. 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.

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System Decomposition

Control System Main controller Motor controller

Sensor System Inertial Measurement Unit (IMU) Cameras, Range Finders

Will not be selected by us.

Communications SystemSoftware SystemPower System

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Control System

Main Controller (Gumstix Overo) 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)

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Software Flow Diagram

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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

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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

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Communications System

RF System WiFi integrated into main controller Base station communication

RC Hobby System Allows manual control Comes into motor controller

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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

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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

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Current Status

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Questions ?