Wireless Gesture-Based Control System for a Remotely

Operated Vehicle DroneAaron RobertsEvan Wayton

Eric AllarMichael Cremona

April 27th 2011

Faculty Advisors: Dr. Molyet and Dr. KimCourse Instructor: Dr. Serpen

Background

What is the purpose of our project?• Wireless control of a remote vehicle based on user inputs.

– Design a controller which can be utilized with one hand.• Hand gestures determine speed and direction of vehicle movements.

– Utilize pitch and roll of hand to control speed and direction.• Proximity sensor detects, and causes reaction to eminent collisions.• Wireless video transmission permits use in non line of sight conditions.• Comply with NEMA 250 standard for electronic enclosures.

Background

What is the importance of our project?• Intuitive user control interface• Eliminating the need to hold a controller

What are the applications of our project?• Military use for remote inspection of terrain• Exploration of hazardous environments

http://chrisnoble.wordpress.com/2007/06/page/3/

Discussion

• Main Project Objectives:– System Design– Creation of Sub-systems– Critical Component Testing– Sub-system Testing & Integration

System Design

• Features of the drone:– Intuitive gesture control– Wireless communication– Sensor override – Audio visual feedback

Completed Glove and Drone

Creation of Sub-systems:

1. Gesture control 2. Motor control3. Wireless communication4. Sensor override5. Glove power6. Vehicle power7. Video communication

Full System Schematic

System Architecture

Gesture Controller

Sub-System

Wireless Control Communication

Sub-System

Drone Vehicle

Sub-System

User Power SupplySub-

System

Vehicle Power Supply

Sub-SystemSensor

OverrideSub-System

Wireless VideoCommunication

Sub-System

Subsystems • Gesture Control Sub-system

– Purpose• To provide the gesture commands that will control

the drone.– Procedure

• Loaded program, observed if expected values were shown.

– Issues overcome• Overflowing ATmega328 serial buffer• Adjusting tolerances

Glove Behavioral Flow Diagram

Subsystems• Motor Control Sub-system

– Purpose• To interpret commands sent to the drone and

provide the appropriate movement.– Procedure

• Ran program giving the micro-processor written commands.

– Issues overcome• Skipping neutral and straight states of acceleration

and turning• Length of the read in buffer

Vehicle Behavioral Flow Diagram

Subsystems

• Wireless Communication Sub-System– Purpose

• Reliable data transfer of user commands – Procedure

• Installed ZigBees and confirmed wireless communication was identical to hard-wired communication.

Subsystems

• Sensor Override Sub-System– Purpose

• Collision Avoidance– Procedure

• Added sensor code, tested functionality with overall design.

– Issues overcome• Sensor detecting the ground as a possible collision

Subsystems

• Power and Video Sub-Systems– Purpose

• Provide Battery Power to Essential Components• Provide Wireless Video Transfer

– Procedure• Powered circuits without using lab power supplies.• Tested video communication against ZigBee

communication.

Power & Throughput Analysis

RadioShack Enercell rated at 2.13 AH at a 100 mA

Glove Battery Life 23 hoursDrone Battery Life 50 minutes

ATmega328 1 MIPS @ 1 MHz100 instructionsTime 6.25us

Power Received as a Function of Distance in Free Space

1.00E-07

1.00E-06

1.00E-05

1.00E-04

1.00E-03

1.00E-02

1.00E-01

1.00E+00

1 10 100

Distance [ft]

Pow

er R

ecei

ved

[mW

]

Power Received

Communication Analysis

Tx DC Power

Rx DC Power

NEMA 250For Electrical Enclosures

• Compliance with NEMA Standard– Involved various tests for foreign material.

• Dust/Dirt• Water• Solid Objects

Video demo

Conclusions

• Lessons Learned– Design– Compliance

• Future Plans/Improvements– Larger Drone– Power Supply– Feedback of Current State– Additional Sensors

Questions?