English-version Introduction of My graduation Project

W10d4

Autonomous Landing of a quadrotor UAV

On intended Target

Keywords: Computer Vision; path-planning; Quadrotor UAV;

SHU-WPI International Joint Project

A quadrotor UAV (unmanned aerial vehicle), also called Quadrotor, is a multi-rotor helicopter the is lifted and propelled by four rotors. By controlling the rotational speed of the rotors, it's convenient to control its attitude in the space. In these last years, a growing interest have been shown in this kind of aerial robot platform. Researchers from prestigious universities and institutes like MIT and Stanford with made outstanding contributions on Vari OUs areas including quadrotor structure, control algorithms for stability and path-planning. Now, this project was aiming at setting up a quadrotor platform and are committed to doing some researches on autonomous Landin G Skills of Quadrotor.

Goal: a circle would be drawn as A mark in outdoor environment. The quadrotor is expected to find it autonomously. After some calculations it would fly towards the mark, and eventually, landing on the mark precisely, safe and sound.

To reach this goal, there is, problems to solve as follows:

• How to build a quadrotor that's able to fly in a stable state?
• How does the quadrotor recognize the target, flying towards it precisely, and landing safe and sound?

Technical Solutions:

About The first problem, thanks to the dedicated efforts on the early stage, Shanghaiuniversity have succeeded in Installing the structure of a quadrotor, and configuring architecture of its electronics part. This project is use FPGA as the main controller unit, and GY-86 module as the Inertial Measurement Unit (IMU). The following is details of this structure.

Quadrotor Parameters:

Frame (450cm)

Brushless DC Motor (7100r/min)

Lithium Battery (11.1v,2200ma)

Propellers (1047inch)

Electronic speed Controller (30A)

IMU sensors:gy-86

Sonar

Camera

FPGA Core Board:altera FPGA

2.4G Remote Controller

Zigbee Module

Ide:nios ii,quartusii 11.0 (C is the main programming language)

[Picture of the drone]

About the solution to the second problem , which isalso the main focus of this SHU-WPI international Joint Project, camera was planned to use to locate tar Get. As such, it needs to cover some technologies in the area of computer vision, such as what to dig useful information from PI Ctures. If every thing is OK, we'll finally make Quadrotor find the target and finish the landing task quickly, precisely and St    ably. The following is the flow chart, and we'll design the specific algorithm during the period of this international Joint P Roject.

Discussion: When the camera was fixed to quadrotor,the quality of image would be truly influenced due to vibration. Here is the probable solutions:the first one was to correct, the influences by digital filtering algorithms. The second one is to use a structure, which adds-servo motors to the camera (similar-PTZ camera) and let camera gai N-degree of freedoms to balance vibration to meet the needs of the lowest precision requirements.

Conclusion:

This are mainly dedicated to explore a, 3d-location and path-planning by camera. Thanks to the early stage, we also cover the modeling of Quadrotor, stabilization of flight, and wireless signal Transmiss Ion, which, of course, can is developed if any change could increase the whole performance for our quadrotor.

Reference:

[1]http://en.wikipedia.org/wiki/quadcopter wiki Encyclopedia

[2] Www.multiwii.com

[3]datasheets of GY-86 module (10DOF MS5611 hmc5883l MPU6050)

[4] Modelling,identification and Control of a qaudrotor helicopter Tommaso Bresciani

[5] Christian Schlaile, Oliver Meister, Natalie Frietsch, Christoph Kebler, Jan Wendel, Gert F. Trommer. Using Natural features for vision based navigation of an INDOOR-VOTL MAV

[6] Tarek Hamela, Robert Mahony. Image based visual servo control for a class of Arial robotic systems

English-version Introduction of My graduation Project