mav’08 research update

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MAV’08 Research Update Abe Bachrach Ruijie He Sam Prentice Nicholas Roy Feb 14, 2008 Happy Valentine’s!

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MAV’08 Research Update. Abe Bachrach Ruijie He Sam Prentice Nicholas Roy Feb 14, 2008 Happy Valentine’s!. Mission Description. Scenario Terrorists have taken over bank building 1km away Holding hostages in 1 of the rooms 1 Guard vehicle circling area, mines present Mission - PowerPoint PPT Presentation

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Page 1: MAV’08 Research  Update

MAV’08 Research Update

Abe Bachrach

Ruijie He

Sam Prentice

Nicholas Roy

Feb 14, 2008Happy Valentine’s!

Page 2: MAV’08 Research  Update

Mission Description Scenario

Terrorists have taken over bank building 1km away Holding hostages in 1 of the rooms 1 Guard vehicle circling area, mines present

Mission Rescue hostages in 40 minutes

Assets MAVs less than 30cm in size 2 commandos, communicate via radio Ground robots for disabling mines

Page 3: MAV’08 Research  Update

Team MIT’s strategyFly helicopter to bank building

Perform coverage pattern

Search for guard vehicle

Identify obstacles, goal, mines

Google maps

Vision SLAM

Track guard vehicle

Plan commando, UGV path

Communicate with commando, UGVs

MAV monitoring

Return to base for battery recharge

Page 4: MAV’08 Research  Update

Hardware Asctec Hornet

6 rotors 10-15 min flight time GPS waypt following Data-link

900Mhz Xtend

Sensors GPS, IMU, compass, Pressure sensor 2.4Ghz camera

Page 5: MAV’08 Research  Update

Flight videos – GPS hovering

Page 6: MAV’08 Research  Update

Flight videos – GPS following

Page 7: MAV’08 Research  Update

Software

Tracking

Page 8: MAV’08 Research  Update

Software

Commando planning