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Autonomous_navigation for_ariel_robots (QUADCOPTERS)

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In recent years, flying robots such as miniature helicopters or quadrotors have received a large gain in popularity. Potential applications range from aerial filming over remote visual inspection to automatic 3D reconstruction of buildings. Navigating a quadrotor manually requires a skilled pilot and constant concentration. Therefore, there is a strong scientific interest to develop solutions that enable quadrotors to fly autonomously and without constant human supervision. This is a challenging research problem because the payload of a quadrotor is uttermost constrained and so both the quality of the onboard sensors and the available computing power is strongly limited. Here you will be introduced to the basic concepts for autonomous navigation for quadrotors including topics such as probabilistic state estimation, linear control, and path planning. You will learn how to infer the position of the quadrotor from its sensor readings, how to navigate along a series of waypoints, and how to plan collision free trajectories.

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BY: J.G. LAKSHMI KANTH 12K95A0409 Guide: Mrs. P. Gayathri Assoc.prof coordinator : Ms. K. Sudha Rani Assoc.Prof
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
QUAD ROTOR IS IN SET POSTION
HE PUSHES IT FORWARD
QUADROTOR MOVES FORWARD
AUTOMATIC RETURN TO ORIGIN
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Gyroscope, accelerometer, magnetometer (IMU) Ultrasound height sensor Pressure sensor Visualodometry sensor (60fps) Front camera (720p, 30fps) SENSORS:
Actuators: 4 brush less motors, 14.5W AVR CPU motor controllers LiPobattery,1000mAh
Embedded Linux system (Ubuntu) ARMCortexA8, 1GHz Linux 2.6.32 USB2.0host WiFib,g,n Open-source API
DIGITAL GYROSCOPE ACCELEROMETER MEMS IMU + ACCELEROMETER GYROSCOPE
PWM SIGNALS WITH VARIABLE DUTY CYCLE
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Where, t is Translation matrix
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Preserves Angles between Lines Parallel Lines Remain Parallel
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
How can we estimate the robot motion? Control-based models predict the estimated motion from the issued control commands Odometry-based models are used when systems are Equipped with distance sensors (e.g., wheel encoders) Velocity-based models have to be applied when no wheel encoders are given.
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Best Practices (Robot Architecture): Modular Robust De-centralized Hardware and software abstraction Provide introspection Data logging and playback Easy to learn and to extend Provides infrastructure Open-source: ROS (Robot OS ) Player/Stage, CARMEN, YARP Closed-source: Microsoft Robotics
Pix4 Flow Sensor Algorithm: 1) Image Acquisition 2) Image Correction 3) Feature Detection 4) Estimate Optical Flow field 5) Obtain correlation 6) Check for Tracking errors 7) Use Kalman Filter for state estimation distribution maintenance.
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
1) Search and Rescue operations. 2) Building Inspection after Earth quake 3) Bridge inspection 4) Roof inspection 5) Precision Agriculture. 6) Mapping of buildings 7) Architecture 8) Transportation 9) Building planning Quadrotors with Thermal cameras for forest fire prevention Quadrotor with Nuclear detection device Painting seeds 1) Limited flight time 2) Legal Regulations 3) Prone to Hacking
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
As there is a Potential for using Quadcopters in Many Fields it is up to Candidates to think of Where they can be efficiently used. Making It more Stable Is also Important.
Autonomous_navigation for_ariel_robots (QUADCOPTERS)
Autonomous_navigation for_ariel_robots (QUADCOPTERS)

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Autonomous_navigation for_ariel_robots (QUADCOPTERS)

  • 1. BY: J.G. LAKSHMI KANTH 12K95A0409 Guide: Mrs. P. Gayathri Assoc.prof coordinator : Ms. K. Sudha Rani Assoc.Prof
  • 3. QUAD ROTOR IS IN SET POSTION
  • 4. HE PUSHES IT FORWARD
  • 8. Gyroscope, accelerometer, magnetometer (IMU) Ultrasound height sensor Pressure sensor Visualodometry sensor (60fps) Front camera (720p, 30fps) SENSORS:
  • 9. Actuators: 4 brush less motors, 14.5W AVR CPU motor controllers LiPobattery,1000mAh
  • 10. Embedded Linux system (Ubuntu) ARMCortexA8, 1GHz Linux 2.6.32 USB2.0host WiFib,g,n Open-source API
  • 11. DIGITAL GYROSCOPE ACCELEROMETER MEMS IMU + ACCELEROMETER GYROSCOPE
  • 16. Where, t is Translation matrix
  • 18. Preserves Angles between Lines Parallel Lines Remain Parallel
  • 20. How can we estimate the robot motion? Control-based models predict the estimated motion from the issued control commands Odometry-based models are used when systems are Equipped with distance sensors (e.g., wheel encoders) Velocity-based models have to be applied when no wheel encoders are given.
  • 22. Best Practices (Robot Architecture): Modular Robust De-centralized Hardware and software abstraction Provide introspection Data logging and playback Easy to learn and to extend Provides infrastructure Open-source: ROS (Robot OS ) Player/Stage, CARMEN, YARP Closed-source: Microsoft Robotics
  • 23. Pix4 Flow Sensor Algorithm: 1) Image Acquisition 2) Image Correction 3) Feature Detection 4) Estimate Optical Flow field 5) Obtain correlation 6) Check for Tracking errors 7) Use Kalman Filter for state estimation distribution maintenance.
  • 25. 1) Search and Rescue operations. 2) Building Inspection after Earth quake 3) Bridge inspection 4) Roof inspection 5) Precision Agriculture. 6) Mapping of buildings 7) Architecture 8) Transportation 9) Building planning Quadrotors with Thermal cameras for forest fire prevention Quadrotor with Nuclear detection device Painting seeds 1) Limited flight time 2) Legal Regulations 3) Prone to Hacking
  • 30. As there is a Potential for using Quadcopters in Many Fields it is up to Candidates to think of Where they can be efficiently used. Making It more Stable Is also Important.