CEAS-REU PROJECT # 1 MULTI-UAV COOPERATIVE CONTROL Michael Alio: Mechanical Engineering, California...
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- Slide 1
- CEAS-REU PROJECT # 1 MULTI-UAV COOPERATIVE CONTROL Michael
Alio: Mechanical Engineering, California State Polytechnic
University, Pomona Dan Champion: Aerospace Engineering, University
of Cincinnati Emma Dorgan: Mechanical Engineering, University of
Cincinnati Graduate Research Assistant -Balaji Sharma: Graduate
Student in the School of Dynamic Systems, University of Cincinnati
Faculty Mentor Dr. Manish Kumar: Assistant Professor, Mechanical
Engineering, Cooperative Distributed Systems (CDS) Lab, School of
Dynamic Systems 1
- Slide 2
- Purpose Existing control algorithms have been better suited for
land vehicles Create a better control algorithm for simultaneous
robots that fly The algorithm is based on swarming which can be
seen in nature such as a flock of birds or a school of fish 2
- Slide 3
- 3 Photo credit: http://3.bp.blogspot.com/_wmhnFztZURE/TJawxMxwi
vI/AAAAAAAAAiw/1ZezslZbXL8/s1600/204.JPG
http://3.bp.blogspot.com/_wmhnFztZURE/TJawxMxwi
vI/AAAAAAAAAiw/1ZezslZbXL8/s1600/204.JPG
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- 4 Photo credit: http://www.jacobdavisphotography.c
om/images/20100112100232_schoo l_of_fish_800.jpg
http://www.jacobdavisphotography.c om/images/20100112100232_schoo
l_of_fish_800.jpg
- Slide 5
- Project Goals: To gain experience in research Help develop a
working swarm control algorithm Have multiple Skybotix coaxial
helicopters fly autonomously and simultaneously by using wireless
Local Area Network (LAN) Have a working quad-rotor helicopter fly
autonomously (optional) 5
- Slide 6
- Objectives: Learn how to affectively use the Optitrack system
in the IMAGE Lab Develop and edit a MatLab program to plot position
vectors in both 2 and 3-Dimensional Space Use an emulated Linux
environment to connect and program individual Skybotix Coaxial
helicopters Create a control algorithm for the UAVs to follow a
pursuit pattern in a confined space 6
- Slide 7
- Optitrack Progress: We have familiarized ourselves with the
Optitrack system We learned to calibrate it to recognize specific
objects, while ignoring extraneous markers 7
- Slide 8
- We are working with some very sensitive equipment in the lab!
8
- Slide 9
- MATLAB Progress: Found a MATLAB Tool to collect data from the
Natural Point program Written by Glen Lichwark, University of
Queensland, Australia We were able to use this code to track our
object on MATLAB It makes 3D and 2D plots in real time 9 Image
Source: Mathworks.com
- Slide 10
- 3D and 2D data plots using MATLAB 10
- Slide 11
- We changed the code to fit our capture volume Also creates a
data set of position values while making the graphs 11
- Slide 12
- MATLAB would also crash frequently and unpredictably 12
- Slide 13
- Demonstrations
http://www.youtube.com/watch?v=kHpy_Ou0YFo&feature =plcp
http://www.youtube.com/watch?v=kHpy_Ou0YFo&feature =plcp
http://www.youtube.com/watch?v=Zp3rp4XDnPQ&feature =plcp
http://www.youtube.com/watch?v=Zp3rp4XDnPQ&feature =plcp
13
- Slide 14
- Skybotix CoaX Helicopters We were each assigned a Skybotix
Helicopter to work with The first step was to get them to send and
receive information through Serial Connection We are using a
program called PuTTY to open the connection to the robot. 14
- Slide 15
- Skybotix Coax Progress Configuration with Linux is proving to
be difficult Skybotix setup forums are extremely vague in their
instructions Help Forums are proving to be useful (special thanks
to Dr. Cedric Pradalier) 15 Image Source:
http://www.neohide.com/operating-systems/linux
http://www.neohide.com/operating-systems/linux
- Slide 16
- Work Ahead Finish configuration of CoaX helicopters for
wireless telemetry Make sure it functions properly with live video
feed, optic sensors, and height sensors Run a working simulation
environment Create an algorithm to have multiple UAVs fly and
cooperate with each other simultaneously Test this algorithm with a
simulation 16 Image Source: Skybotix.com
- Slide 17
- Project Timeline Task/Week12345678 Learn lab & hardware
resources Learn motion tracking system Learn UAV systems
capabilities Learn communication protocols & UAV control Learn
UAV control Develop simulation model Experiment cooperative control
algorithm Documentation & presentation 17 Green: Complete Red:
Not Started Yellow: Incomplete