ECE 477 Senior DesignMRAV – Multi Rotor Autonomous Vehicle
Team 9April-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• Ultrasonic Range Finders• GPS
– Communicates with ground station using Xbee wireless
Project Overview [Cont’d]
Project Overview [Cont’d]
Design Challenges Faced
• I2C Communication Protocol• Floating Point Arithmetic• Wireless Communications• PID Control Theory and Application• Huge amount of code Debugging • High RAM usage
ECE270/362 Knowledge Used
• Power Requirements / Chip Selection / Reading Data Sheets
• Using IDE and Programming Microcontrollers• Microcontroller Peripherals– ADC– PWM– I2C– SPI
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