group 4 bianca wood chris culver shane parker yousef al-khalaf
TRANSCRIPT
Group 4Bianca WoodChris Culver
Shane ParkerYousef Al-Khalaf
Motivation
Challenge Our CapabilitiesSense of AccomplishmentSheer Fun
Objectives
Competitive performance against human opponentsAgileAccurate shootingReal-time, intelligent decision-making
Specifications
Four quadrotor combatantsEach quadrotor has .5m diamterAble to operate for 15 minutes on a single
charge
A.I. Controller
Power System
Image Processor
Flight Control
Destination Current Position
Shut Off
Opponent Pos. & Opponent Hit
Memory Power Switch
Starting Pos.
Motor ControllerCamera
Sensor
Laser
Block Diagram
Artificial Intelligence Subsystem
State Machine
Navigation Mesh
Path With Navigation Mesh
Control Point
Cover Zones
Probability Field
Hardwarei7 Ivy Bridge16GB DDR3 1600 with 9-9-9-24 Timings120GB SSDNVIDIA 8900 GT
Motion Detecting Algorithms• Two frames difference motion detector
Motion Detecting Algorithms, cont.Simple background modeling motion detector
Motion Processing AlgorithmsGrid motion area processing
Overall Software Class Diagram
Power
Micro Controller
Motor
Motor
Motor
Motor
Movement
A.I. Controller
Flight Control Sub-System
NavigationControl/Stabilization
Algorithm Coordinates /
Sensors Motors
Navigation•Coordinates come from AI computer
Stabilization•Readings come from sensors
Varies Voltage
Stabilization Navigation
Dead-Reckoning
Image recognition1
2
3
4
Hardware
Voltage :1.8 – 3.3 V
Current : 165 µA/MHz
32 bit
3 – Axis Accelerometer
3 – AxisGyroscope
Digital Compass
Voltage : 2.1 – 3.6
Frequency : 2.4 GHz
Data Rate : 250 Kbps
Range : 133 ft
PowerBest part of the project Lithium-ion Polymer battery11.1 v and trying to figure best mAh Need a PCB to disperse the power
BudgetItem Quantity
Price per Quantity Total Price
Quadcopter Frames 4 $250 $1,000
Computer 1 $500 $500
Spy Strike Laser Dueling System 2 $23 $46
Motors 12 $10 $120
Slowfly electric prop 1045R 4-piece set 4 $3 $12
Wireless Microprocessor 4 $50 $200
Webcams 4 $15 $60
Accelerometer/Gryometer 4 $100 $400
11.1V 1600mAh 25C LiPo Battery 4 $30 $120
Miscellaneous Unknown UnknownAllocating
$150
Total $2,608
FinancesNeed sponsors/ donations$500 from a family friend$500 from another friendMotors Still waiting
Progress
Challenges
Questions?