wse 6a-octo-x terrain mapping uav
TRANSCRIPT
Octo-X Terrain Mapping UAV
MIDN Godfrey BaldezMIDN Manuel De La Cruz
MIDN Richard GonongMIDN Zachary Rafter
Advisor: Assistant Professor Jeremy Dawkins
Overview• Motivation & Current Research/Products• Goals• Software• Hardware• Testing• Lessons Learned
Motivation• To showcase the abilities of
unmanned systems.• Develop a method for autonomous
surveying of a given area• To demonstrate the capabilities of
UAVs in the areas of science, engineering, and military.
• Used in a wide variety of fields• To perform tasks normally done by
humans.
Applications• Engineering and Infrastructure
designo Project planningo Land and Resource Management
• Validation of satellite imageryo Google Maps
• Environmental studieso Ecosystem mapping
• Geological hazard assessmentso Erosion potential mapping
• Military Applicationso Counter IED o Intelligence / Surveillance / Reconnaissanceo Logistics (route planning)
Current Research/Products
3DR X8-M Boomerang
Problem statement• To build a robust, and functional UAV that has
the potential to:o collect lidar datao record Go-Pro video
•To make the UAV flyable via:oRemote Control (Minimum)oAutonomous (Ideal)
•To create Digital Elevation Model’s using the collected LiDar data
Autonomous CodeMatlab
Psuedo-Code
Google Maps( set desired area to scan )
Create Waypoints
While( track is incomplete )
For ( each waypoint )
Drive UAV to despos w/ PD-C
end
end
ROS Infrastructure• ROS-collection of
software framework for robot software development. Allows software development to be segmented and in turn makings communication easier.
• MAVROS-Communication node for Ground Control Station
Autonomous CodeC++
Psuedo-CodeKeyboard Command FunctionAssign keyboard letters to UAV functions
Main LoopParse .txt file
Set Octo-State to Loiter
While( ROS is working )
constantly read for new keyboard commands
If ( UAV in autonomous mode )
start local timer
If ( UAV in autonomous mode )
compare time to time stamp in .txt file
assign desired positions
run controller
end
else
send current desired position
end
Hardware• Components
o3DR Pixhawk FCo3DR Radio Seto3DR uBlox GPS/Compass KitoTurnigy 9X RC Transmittero4x 5000 mah 4C Li-Po BatteriesoDynamixel AX-12A Servo + USBoHokuyo URG-04LX LiDARoIntel NUC UAV ComputeroTurnigy 930 KV Brushless Motor x8o30A ESC x8o10in 10x4.5 Propellers x8oNeewer x525 Quadcopter Kit
Component Design • Mounting
oLaser Cutter (Custom Mounting Plates made with
oServo Mount (Custom)oLiDAR Mount (Custom)oComputer Mount (Custom)
•Thrust/Payload CapacityoRedundancy (Motors/Props)
•Firmware•Battery Life•Power distribution
https://www.youtube.com/watch?v=SrIVQvqMcCo#t=23
Competing Product:
3D Robotics X8-M Cost: $5400.00
Cost Analysis3DR PixHawk Flight Controller $199.99
3DR Radio Transmitter Set $100.00
3DR uBlox GPS/Compass Kit $89.99
Turnigy 9X RC Transmitter $59.99
5100mAh 4C Li-Po Batteries x4 $213.64
Dynamixel AX-12A Servo + USB $94.80
Hokuyo URG-04LX LiDAR $1,995.00
Intel NUC UAV Computer $149.95
Turnigy 930 KV Brushless Motors x8 $114.00
30A ESCs x8 $105.20
10” 10x4.5 Propellers x8 $16.00
NEEWER x525 Quadcopter Kit $25
GoPRO Hero 3+ $379.95
Belkin N300 USB Wireless Adapter $19.95
Belkin 4-port USB HUB $29.99
XT-60 Connectors $17.80
1/4 "Acrylic (12”x24”) $15.76
Total: $3,627.00
Future Work
Although we were unable to do live testing, the simulated tests proved promising. If we had more time, we would optimize the controller gains and perform live tests.
Lessons learned• Knock off equipment• Appreciation for sticking to a
schedule• Mounting issues• Communication