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Development of a Mini-UAV for Urban Environments

Development of a Mini-UAV for Urban Environments. Tony Dodd and Beniamin Apopei. Overview. UAVs@Sheffield The urban environment The challenges Quadrotor MAV Future plans. UAVs@Sheffield. Platform development Control, mission planning, co-operative UAVs

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Development of a Mini-UAV for Urban Environments

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  1. Development of a Mini-UAV for Urban Environments Tony Dodd and Beniamin Apopei

  2. Overview • UAVs@Sheffield • The urban environment • The challenges • Quadrotor MAV • Future plans IET Seminar on Micro UAVs

  3. UAVs@Sheffield • Platform development • Control, mission planning, co-operative UAVs • Simulation/hardware-in-the-loop co-simulation • Communications (wireless, fibre optics) • Smart and morphing structures • Advanced composites • Aerodynamics and design optimisation • Energy management IET Seminar on Micro UAVs

  4. Industrial links/projects • Three Rolls-Royce UTCs • Boeing sponsored AMRC • ASTRAEA • Blue Bear Systems Research • Home Office • EADS • SEAS DTC? IET Seminar on Micro UAVs

  5. Technology carrier platform MAV group project Autonomous control (inertial and GPS) … UG/MSc Projects IET Seminar on Micro UAVs

  6. WUN Intelligent UAV Group • 19 research led universities • UK, Europe, US, China, Australia, Canada • Brings together world’s leading experts • Collaboration, funding and exchange IET Seminar on Micro UAVs

  7. Security Military Communications relay Pollution monitoring Police and surveillance Traffic monitoring Fire brigade Search and rescue Crowd control Building inspection Mapping ... Urban Applications IET Seminar on Micro UAVs

  8. MoD Grand Challenge • “Create a system with a high degree of autonomy that can detect, identify, monitor and report a comprehensive range of military threats in an urban environment” [7] • www.challenge.mod.uk [7] IET Seminar on Micro UAVs

  9. The Urban Environment [1] IET Seminar on Micro UAVs

  10. The Urban Environment [1] [2] IET Seminar on Micro UAVs

  11. The Urban Environment [1] [2] [3] IET Seminar on Micro UAVs

  12. The Urban Environment [1] [2] [3] IET Seminar on Micro UAVs

  13. The Challenges • Simultaneous location and mapping (SLAM) • Autonomous/semi-autonomous control • Collision avoidance • Gusting and turbulence • Reliable wireless communications • Stealth • Power and energy management • User interface/mission management • Portable IET Seminar on Micro UAVs

  14. Urban UAVs • Fixed wing – OTH reconnaissance (superior range and endurance) [6] IET Seminar on Micro UAVs

  15. Urban UAVs • Fixed wing – OTH reconnaissance (superior range and endurance) • Rotary wing – urban operation (between and inside buildings) IET Seminar on Micro UAVs

  16. Urban UAVs • Fixed wing – OTH reconnaissance (superior range and endurance) • Rotary wing – urban operation (between and inside buildings) • Advanced rotary/flapping wing (indoors) [5] IET Seminar on Micro UAVs

  17. Urban UAVs • Fixed wing – OTH reconnaissance (superior range and endurance) • Rotary wing – urban operation (between and inside buildings) • Advanced rotary/flapping wing (indoors) • Lighter than air? [4] IET Seminar on Micro UAVs

  18. Quadrotor MAV Design requirements: • VTOL • Stable and highly manoeuvrable • All electric • Indoor and outdoor operation • Flight time > 10 min • MTOW > 3.5kg (initial prototype > 400g) • Portable and robust IET Seminar on Micro UAVs

  19. Why Quadrotor? • Very efficient – all power to lift • Better payload/size ratio – compact • More stable • More manoeuvrable • More robust/fault tolerant IET Seminar on Micro UAVs

  20. Sensors Inertial measurement unit GPS Firewire cameras Ultrasonic Laser Power Brushless motors Tilting, counter-rotating props (+ configuration) Lithium polymer batteries Structure Glass and carbon fibre chassis Processing Microcontroller Dual FPGA-DSP processors (Firewire ports) COTS Components [8] [9] [10] IET Seminar on Micro UAVs

  21. Quadrotor Prototype I IET Seminar on Micro UAVs

  22. IMU Development • COTS gyros and accelerometers (Analog Devices) • Gyros - 300 deg/s • Accelerometers - 2g • PCB design • Analogue to digital conversion by microcontroller • Very low cost < £200 IET Seminar on Micro UAVs

  23. Simulation and control IET Seminar on Micro UAVs

  24. Simulation and control • Lyapunov stability analysis – hovering operating point • Input coupling/correlation analysis • Hovering control • Nonlinear control – simulation • Tuned PID – simulation and real IET Seminar on Micro UAVs

  25. User interface IET Seminar on Micro UAVs

  26. Quadrotor Prototype II IET Seminar on Micro UAVs

  27. Tiltrotor Mechanism IET Seminar on Micro UAVs

  28. Video IET Seminar on Micro UAVs

  29. Future plans Technical challenges • Sensor fusion • Navigation and collision avoidance • SLAM • Active/passive vibration suppression User interface/mission management Batteries and structure Testing and applications IET Seminar on Micro UAVs

  30. References [1] http://www.americasarmy.com/gallery/index.php?id=27 [Accessed 2 February 2007] [2]http://www2.soros.org/photogalleries/mw_gallery.php?series=/resources/events/mw9/hemmerle/ [Accessed 2 February 2007] [3] http://www.actionla.org/Iraq/IraqReport/iraq_gallery_03/pages/IMGP0060.html [Accessed 2 February 2007] [4] http://www.otherlandtoys.co.uk/silver-mylar-blimp-envelope-p-941.html [Accessed 2 February 2007] [5] http://bicoreeos.solarbotics.net/mav.html [Accessed 2 February 2007] [6] http://www.nd.edu/~mav/photo.htm [Accessed 2 February 2007] [7] http://www.challenge.mod.uk [Accessed 3 February 2007] [8] http://www.traquair.com/ [Accessed 3 February 2007] [9] http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm [Accessed 3 February 2007] [10] http://www.xsens.com/ [Accessed 3 February 2007] IET Seminar on Micro UAVs

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