Autonomous_navigation for_ariel_robots (QUADCOPTERS)

BY: J.G. LAKSHMI KANTH

12K95A0409

Guide:Mrs. P. Gayathri

Assoc.prof

coordinator :Ms. K. Sudha Rani

Assoc.Prof

QUAD ROTOR IS IN SET POSTION

HE PUSHES IT FORWARD

QUADROTOR MOVES FORWARD

AUTOMATIC RETURN TO ORIGIN

Gyroscope, accelerometer, magnetometer (IMU)

Ultrasound height sensor

Pressure sensor

Visualodometry sensor (60fps)

Front camera (720p, 30fps)

SENSORS:

Actuators: 4 brush less motors, 14.5W AVR CPU motor controllers LiPobattery,1000mAh

Embedded Linux system (Ubuntu) ARMCortexA8, 1GHz Linux 2.6.32 USB2.0host WiFib,g,n Open-source API

DIGITAL GYROSCOPE ACCELEROMETER

MEMS IMU

+

ACCELEROMETER

GYROSCOPE

PWM SIGNALSWITH

VARIABLEDUTY CYCLE

Where, t is Translation matrix

• Preserves Angles between Lines

Parallel Lines Remain Parallel

How can we estimate the robot motion?

•Control-based models predict the estimated motion from

the issued control commands

•Odometry-based models are used when systems are

Equipped with distance sensors (e.g., wheel encoders)

•Velocity-based models have to be applied when no wheel encoders are given.

Best Practices (Robot Architecture):ModularRobustDe-centralizedHardware and software abstractionProvide introspectionData logging and playbackEasy to learn and to extendProvides infrastructure

Open-source: ROS (Robot OS )Player/Stage, CARMEN, YARP Closed-source: Microsoft Robotics

Pix4 Flow Sensor

Algorithm:

1) Image Acquisition2) Image Correction3) Feature Detection4) Estimate Optical Flow field5) Obtain correlation6) Check for Tracking errors7) Use Kalman Filter for state estimation distribution maintenance.

1) Search and Rescue operations.2) Building Inspection after Earth quake3) Bridge inspection4) Roof inspection5) Precision Agriculture.6) Mapping of buildings7) Architecture8) Transportation9) Building planning

Quadrotors with Thermal cameras for forest fire prevention Quadrotor with Nuclear detection device Painting seeds

1) Limited flight time2) Legal Regulations3) Prone to Hacking

As there is a Potential for using Quadcopters in Many Fields it is up to Candidates to think of Where they can be efficiently used. Making It

more Stable Is also Important.