Multiple UAV Coordination. By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE

Transcription

1 Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE Tuesday, February 24, 2014

2 2 Project Objectives Efficiency Flocking Safety Autonomy

3 3 System Block Diagram (Mothership) Alexander Valeljo Dakota Mahan Ethan Hoerr Team Effort Mother Ship Hardware Software Front Facing HD Camera/Bottom Facing Camera/ GPS Color Recognition Collision Avoidance Auto & Manual Pilot Drones Based on Camera Feed to PC 3

4 4 Alexander Valeljo Dakota Mahan Ethan Hoerr Team Effort System Block Diagram (Drones) Drones Atmega328P Autopilot through transceiver/ transmitter 808 Pinhole Camera Barometer PC Relay/ Camera RGB LED 4

5 Ethan s Tasks 5

6 6 Ethan s Tasks 6

7 7 Problems Use Logic Analyzer feature of oscilloscope Interpreting SPI data Inconsistent binding when using ATmega328P to directly communicate with BK2421 wireless transceiver 7

8 8 Ethan s Tasks 8

9 9 Work Accomplished Determine Hak909 Handset joystick potentiometer profile Joystick Measured Joystick Resistances (ohms) Yaw 4757 Throttle 4595 Roll 4912 Pitch 4313 Average:

10 10 Work Accomplished Digital Potentiometer Selection: 5kΩ potentiometer SPI interface 128, 256, or more taps Single, dual, or quad pots per chip Microchip MCP E/P Two digital pots per chip: similar to two pots per joystick 5kΩ, SPI, 256-taps, daisy-chain compatible 10

11 Ethan s Tasks 11

12 12 Work Accomplished Interface MCP41XX (10kΩ, 256-tap, single pot) digital potentiometer with ATmega328P over SPI Sweep from 0 to 10kΩ, wiper voltage out 0-5V: 12

13 13 Work Remaining Assemble digital potentiometer circuit J1 V_Handset 3.50Vdc ATmega328P Pin 10 ATmega328P Pin 13 ATmega328P Pin 11 ATmega328P GND Joystick_1 Wiper CS SCK SDI Vss P1B P1W P1A MCP E/P VDD ATmega328P 5V SDO SHDN WP P0B P0W P0A Joystick_2 Wiper V_Handset1 3.50Vdc J2 V_Handset2 3.50Vdc ATmega328P Pin 10 CS ATmega328P Pin 13 SCK ATmega328P Pin 11 SDI ATmega328P GND Vss P1B P1W P1A Joystick_3 Wiper MCP E/P VDD ATmega328P 5V SDO SHDN WP P0B P0W P0A Joystick_4 Wiper V_Handset3 3.50Vdc 13

14 14 Ethan s Tasks 14

15 15 Work Remaining Write ATmega328P code to address 4 joysticks (daisy-chain 6 total SPI devices) Receive control parameter values via USART from Dakota s image processing code One byte each for throttle, pitch, yaw, roll Translate to 8-bit value to send to digital pots 15

16 16 Anticipated Problems Image processing to quadcopter control Need to minimize delay between two systems Default digipot positions on handset powerup Throttle: MUST be zero! Yaw, pitch, roll: neutral position 16

17 17 Previous Work 808 Camera(Relay & Transistor) Pay Load Testing LED Testing BMP

18 Alex s Tasks 18

19 19 Work Accomplished 808 Camera Changes Shutter Power Button Timer Error: Test Camera(1 Second Picture Time) Current Cameras Fastest 5 Second Time Power Button Original Design 19

20 20 Work Accomplished Stitching Software(Hugin) GIMP (Auto Cropping Script) 20

21 Alex s Tasks 21

22 22 Work Accomplished BMP 180 Sparkfun(Feet) Coded Timers and added LED statements into BMP File LEDs Red Under 15 Feet 2.2V Blue Greater than V 7805 Testing Voltage Levels from 9V Li Ion Battery. 22

23 Alex s Tasks 23

24 24 Work Accomplished 9 V Rechargeable Battery 7805 Designing Circuit RGB LED 5V Regulator Reset Button Microcontroller Power Source BMP 180 PerfBoard Error: Mis-Soldering 10k Ohm B3F Button 5V Reset A5(PC5) A4(PC4) VCC GND GND AVCC Atmega 328P 5V 5V 100 Ohm Pin 17 PB3 (2.2V) 150 Ohm 3.3V 200 Ohm 120 Ohm BMP 180 CL DA - + 5V Red Led 2.2V Pin 16 PB2 (3.2V) Ohm 180 Ohm 24 Blue LED 3.2V

25 25 Work Remaining Payload Test Arial Testing(Camera) Battery Testing(200mAh) BMP - 5uA(Peak 650 ua) RGB LED(30 ma) Buttons/resistors(~50mAh) Atmega328P(12.68 ma at 8Mhz) Stitching Software testing Work on Team Goals(Auto-Pilot, Navigation, Parallelism) 25

26 26 Previous Work Red, Green, Blue color detection

27 Dakota s Tasks 27

28 Work Accomplished 28

29 29

30 Dakota s Tasks 30

31 31 Image Processing Gaussian Blur Gaussian Sharpening Bilateral Filter Laplace Filter OpenCV s Find and Draw Contours

32 32 Image Processing Image Processing Flow Chart

33 Original Image Work Accomplished 33

34 Bilateral Filter Work Accomplished 34

35 Gray Scale Work Accomplished 35

36 Laplace Filter Work Accomplished 36

37 Subtraction Work Accomplished 37

38 OpenCV Find Contours/Draw Contours Work Accomplished 38

39 Dakota s Tasks 39

40 40 Work Accomplished USART over USB to Ethan s microcontroller code Thrust and Movement Commands

41 Dakota s Tasks 41

42 42 GPS GPS Data Acquisition from Parrot s GPS

43 43 Work Remaining Threshold Value in RGB, CYM GPS Movement Drone Movement

44 44 References Smoothing Images [Online], OpenCV, Available: py_filtering.html Enhancing Image Sharpness [Online], TutorialsPoint, Available: htm Laplacian Operator [Online], TutorialsPoint, Available: tm Wiley, Keith, How Unsharp Masking and Laplacian Sharpening Work [Online] Available:

45 Multiple UAV Coordination By: Ethan Hoerr, Dakota Mahan, Alex Vallejo Team Advisor: Dr. Driscoll Department: Bradley ECE

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