georgia tech aerial robotics dr. daniel p schrage jeong hur fidencio tapia suresh k kannan succeed...

Georgia Tech Aerial Robotics

Dr. Daniel P Schrage

Jeong Hur

Fidencio Tapia

Suresh K Kannan

SUCCEED Poster Session

6 March 1997

1997 Georgia Tech Aerial Robotics

Team Goal

Autonomous Flight Find Drums Identify Drum Labels Retrieve Sample (Disk)

Competition Goals

Design an autonomous VTOL aerial vehicle thatwill compete in the 1997 AUVS InternationalAerial Robotics Competition


Goals - Autonomous Flight

Everything, from take off to landing upon mission

completion must be autonomous. No user input whatsoever is allowed.

The saftey pilot is always on hand to take over in case of an emergency. If an emergency occurs and the pilot takes control the mission is void.


Goals - Find Drums


Goals - Retrieve Disk


Goals - Identify Labels


Aerial Robotics System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station

AHRSAttitudeHeadingAngular Rates

PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever

Deploy/Disk Retrieved ?

Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS

All Ground-AirData Com

Accelerometers


Group Definitions Mission

Provide operational framework, mission control, central information processing, data routing

ControlDesign, program, test, and tune airframe controllers

VisionIdentify drums, labels, and disk; provide object detection and positioning information to

mission control system Interface

Design, build, test, and integrate on-vehicle electronics; design ground-station network interface

RetrieverPrototype, design, build, and test a system to retrieve the sample disk

PlatformMaintain vehicle; design equipment configuration; testing support


Mission System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS


Accelerometers


Mission GroupPurpose

Provide command and coordination to all sub-systems in the Aerial Robotics framework

Task List Design and build a framework within which sub-systems

can interact seamlessly Provide a centralized pool for information flow Receive and collate information from all subsystems Re-route information to appropriate sub-systems

Provide graphical interface for human operator Provide algorithms to achieve competition goal

Responsible for total control of all sub-systems during autonomous flight


Mission - Top Level Algorithm

Test and initialize ground station subsystems Test and initialize vehicle subsystems (GPS, AHRS etc..) Autonomous take off Fly preplanned route while vision subsystem maps field

If drum is found, place location in map and attempt label identification

If disk is found on drum, interrupt mapping and retrieve Plan optimal route to check uncertain labels on drums Return to starting point and land

60 Minutes allowed to complete mission


Mission - Flight Route Field Mapping Plan(Helicopter maintains constant heading during flight)

TO&LArea

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20


Control System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS


Accelerometers


ControlPurpose

To design reliable controllers to achieve state vector requested by mission controller

Avionics

State Request

Modem Link

CommsComputer

SCAS

Mission Control

SensorsGPS

AHRSUltra-Sound

ServoCommands

Airframe


Control Group Tasks Minimum complexity Math Model

NASA Model currently considered Model matching Linearize about Hover (?)

Graphical Simulation Allow pilot to fly model/airframe through PC Architecture to mix pilot and control outputs Integration with Mission Status Display

Integrate with other sub-systems Develop Control Laws (PID or better) Flight Tests

Con

trol

ler

tuni

ng F

ram

ewor

k


Control - Four PID Controllers

Overview of the Stability and Control Augmentation System

HelicopterPlant

K collective

K pitch-cyclic

K roll-cyclic

K yaw

-

-

+

++ Pulse

WidthModulation

Sensor FeedbackPositition, VelocityAttitude, Heading Angular Rates

SCAS

Desired StatePositionVelocityAttitude


Control - Tuning the Controllers

Example - Tuning Pitch Controller Design initial gains using model Flight test

Use pitch controller on airframe Use pilot to control roll, yaw, altitude Collect data and any un-predictable behavior

Match model and re-tune controller

Math Model

Human Pilot Controllers

Airframe

Graphical Simulator


Vision System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS


Accelerometers


VisionPurpose

To develop image processing software and hardware to achieve vision based tasks

Task List Hardware

Camera Selection and mounting Receiver and Transmitter selection

Software Map the field Locate Drums Identify Labels Locate Disk


Vision - Arena MappingMapping

Given a series of pictures and their x,y,altitude coordinates the mapping software creates a mosaic map of the arena

Mission Control

x,y, altsnap picture

command

SGI - Vision

Dedicated Video

RF Link

Rx

TxCamera

Helicopter

MappingSoftware

x,yalt

x,yalt

x,yalt

Mosaic Map ofArena


Vision - Drum Location

DrumLocation

Mosaic Map ofArena

Probable DrumPositions in x,y

Given a picture map of the arena, the software will pick out high probability locations for the drums. The drum location software will be a feature extraction process of some kind.


Vision - Disk and Label LocationGiven high resolution pictures of the area near a drum

Look for labels and identify them using a neural net or template matching techniques. The software should accommodate varying positions, rotations and scaling of labels

Use filters to check for the distinct orange disk

Disk DetectionImage

Processing

Area arounddrum

Neural Net/TemplateMatching

Disk on Drumyes/no

Radioactive ?BioHazard ?Chemical ?


Interface System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS


Accelerometers


Interface GroupPurpose

To design, build, test, and program the electronic systems on-board the vehicle, and to design the communications network for the ground station.

Tasks Flight computer/on-board hardware design Flight computer build/test Flight computer programming

System control Control laws Communications Sensor data aquisition

Ground station TCP/IP networking Sensor testing/evaluation/integration Final system bench testing


TxCamera

Rx

GPS


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

SCAS


Accelerometers

Interface - Flight Computer

• Two Processors • Flight Control (SCAS) / Sensor data manipulation / State tracking

• Communications / Mission control

• Multiplexer - switch between computer and remote human control• Retriever control and status


Retriever System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS


Accelerometers


Retriever Group

PurposeDesign, prototype, build and test a system to retrieve the sample disk.

Previous Design Concepts Single disk-drive magnet on string Aluminum tubing on string (drag-catcher) Semi-inflated balloon with magnets Netting with magnets “Magnet Spider” - flexible arms with magnets to close around disk


Retriever - Design

Current Prototype“Magnet Net”

Two rods connected to crossbar by slide String and reel on DC motor to lower/raise retrieval apparatus Meshed triangle with magnetic rings:

Magnets(attached to net)

Aluminum Tubing

Netting(nylon string or

steel wire)


Platform System Overview

Mission Control

Ethernet

SGI - Vision

TxCamera

Rx

GPS

GPS Ground Station


PositionVelocity

Ultra-Sound

Avionics

State RequestComms

ComputerAltitude

Wireless Modem

Dedica

ted V

ideo

RF Link

Rx

Ethernet

Retriever


Sensors

MUX

Airframe

Human Safety Pilot

Thro

ttle

Kill

On Board

Ground Station

SCAS


Accelerometers


Platform GroupPurpose

To handle vehicle maintenance, equipment mounting, and provide testing support.

Task List Assist in field testing of flight computer, development of controller Platform analysis/selection Payload testing Obtain spares Optimize equipment placement Assist in system testing for other groups

Fly with camera/transmitter - record video On-board testing of GPS, altimeter, motion pak

Assist in sensor calibration Provide support for final field testing/system integration


Platform

georgia tech aerial robotics dr. daniel p schrage jeong hur fidencio tapia suresh k kannan succeed...

Documents