1 / 24

Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)

Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR). Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll. Outline. Project Summary Previous Work Preliminary Work Quadcopter Investigation Equipment and Parts List Block Diagram

beck-weiss
Télécharger la présentation

Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR) Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll

  2. Outline • Project Summary • Previous Work • Preliminary Work • Quadcopter Investigation • Equipment and Parts List • Block Diagram • Ultrasonic Sensor • GPS • Schedule Overview

  3. Project Summary • Human Tracking • Gesture Recognition • Live Video Feed & Data Readings via Wifi • Obstacle Avoidance and Auto-Stabilization • R/C Manual Override

  4. Human Tracking • GPS • Image Processing

  5. Gesture Recognition • BeagleBone Black • I2C Communication Camera • Bicycle Hand Signal • Increase Following Distance • Decrease Following Distance • Land

  6. Live Video Feed & Data Readings via Wifi • Video Captured by Camera • GPS Data

  7. Obstacle Avoidance and Auto-Stabilization • Ultrasonic Sensing • Image Processing • Inertial Measurement Unit

  8. R/C Manual Override • Required by FFA • Turnigy Power System 9X 2.4G 9 Channel Controller • R/C MUX Circuit

  9. Previous Work • Junior Project • GPS Receiver • ATmega Based Microcontroller • Introduction to NMEA Messages • Serial Communication via UART for GPS Data

  10. Previous Work • Junior Project • Sharp Infrared Sensors for Edge Detection • ATmega128 Microcontroller • Roboboat Senior Project • Moving Average Low-Pass Filter

  11. Preliminary Work • Quadcopter Investigation • Equipment and Parts List • Block Diagram • Ultrasonic Sensor • GPS

  12. Quadcopter Investigation • Two ESC Failures • Lack of Information/Poor Documentation • Black Box Controllers • FC1212-S (Flight Controller) • AHRS-S (IMU)

  13. Considered Alternative Options • Option 1 - Repair X650CF, New XAircraft Parts • Option 2 - Keep X650CF Frame, New Generic Parts • Option 3 - Purchase a New Quadcopter • APM:Copter • ELEV-8 Parallax • Parrot AR Drone • DJI Phantom

  14. Summary of Considerations

  15. Current XAircraft Quadcopter Most Cost Effective Assembled RTF Platform Minor Tests Required for Flying Condition Platform Chosen

  16. Equipment and Parts List • ATmega Microprocessor • Beagle Bone Black • XL-MaxSonar-EZ3 (MB1230) Ultrasonic Sensor • Adafruit 66 Channel MTK3339 GPS Breakout Board V3

  17. Block Diagram

  18. Ultrasonic Sensor Specifications • XL-MaxSonar-EZ3 Ultrasonic Sensor • Size: 2.2cm x 2.0cm x 2.5cm (6.1g) • Range: 20cm - 750cm (datasheet) • Lab Test: Max Distance = About 500cm • Reading rate: 10 Hz • Travel Limitation w/ Six Ultrasonic Sensor = 8.3m/s

  19. Preliminary Work - Ultrasonic Sensor • PWM Signal Output • Low Pass Filter of Signal • Analog Signal Output and ADC • Low Noise Chaining of Multiple Sensors

  20. Low Noise Chaining Diagram

  21. Adafruit GPS Specifications • Sensitivity: -165dBm • Typically around -160 or -165dBm • Update Rate: 10Hz Max • Standard ≥ 1Hz • Position Accuracy: 1.8m • Velocity Accuracy: 0.1m/s

  22. Preliminary Work - Adafruit GPS • Program for ATmega328P • Shift to BeagleBone Black

  23. Schedule Overview Ultrasonic Sensor Testing - 12/07/2013 Quadcopter Manual R/C Flight - 12/10/2013 Quadcopter Autonomous Flight - 2/6/2014 GPS Waypoint Implementation - 2/20/2014 Obstacle Avoidance - 4/08/2014 Gesture Recognition - 05/06/2014

  24. Questions?

More Related