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CEAS-REU Project # 1 Multi-UAV Cooperative Control

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

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CEAS-REU Project # 1 Multi-UAV Cooperative Control

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  1. CEAS-REU Project # 1Multi-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

  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

  3. Photo credit: http://3.bp.blogspot.com/_wmhnFztZURE/TJawxMxwivI/AAAAAAAAAiw/1ZezslZbXL8/s1600/204.JPG

  4. Photo credit: http://www.jacobdavisphotography.com/images/20100112100232_school_of_fish_800.jpg

  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)

  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

  7. Optitrack Progress: • We have familiarized ourselves with the Optitrack system • We learned to calibrate it to recognize specific objects, while ignoring extraneous markers

  8. We are working with some very sensitive equipment in the lab!

  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 Image Source: Mathworks.com

  10. 3D and 2D data plots using MATLAB

  11. We changed the code to fit our capture volume • Also creates a data set of position values while making the graphs

  12. MATLAB would also crash frequently and unpredictably

  13. Demonstrations • http://www.youtube.com/watch?v=kHpy_Ou0YFo&feature=plcp • http://www.youtube.com/watch?v=Zp3rp4XDnPQ&feature=plcp

  14. SkybotixCoaX 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.

  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) Image Source: http://www.neohide.com/operating-systems/linux

  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 Image Source: Skybotix.com

  17. Green: Complete Red: Not Started Yellow: Incomplete Project Timeline

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