Georgia Tech Aerial Robotics

courageouscellistAI and Robotics

Oct 29, 2013 (3 years and 11 months ago)

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Georgia Tech Aerial Robotics

Dr. Daniel P Schrage

Jeong Hur

Fidencio Tapia

Suresh K Kannan


SUCCEED Poster Session

6 March 1997

1997 Georgia Tech Aerial Robotics

Team Goal


Autonomous Flight


Find Drums


Identify Drum Labels


Retrieve Sample (Disk)

Competition Goals

Design an autonomous VTOL aerial vehicle that

will compete in the 1997 AUVS International

Aerial Robotics Competition

1997 Georgia Tech Aerial Robotics

Goals
-

Autonomous Flight

Everything
,
from take off to landing upon mission
completion must be

autonomous
. No user input
whatsoever is allowed.

The

saftey pilot

is always on hand to take over in case of
an emergency. If an emergency occurs and the pilot takes
control the mission is void
.


1997 Georgia Tech Aerial Robotics

Goals
-

Find Drums

1997 Georgia Tech Aerial Robotics

Goals
-

Retrieve Disk

1997 Georgia Tech Aerial Robotics

Goals
-

Identify Labels

1997 Georgia Tech Aerial Robotics

Aerial Robotics System Overview

1997 Georgia Tech Aerial Robotics

Group Definitions


Mission

Provide operational framework, mission control, central information processing,
data routing


Control

Design, program, test, and tune airframe controllers


Vision

Identify drums, labels, and disk; provide object detection and positioning
information to mission control system


Interface

Design, build, test, and integrate on
-
vehicle electronics; design ground
-
station
network interface


Retriever

Prototype, design, build, and test a system to retrieve the sample disk


Platform

Maintain vehicle; design equipment configuration; testing support

1997 Georgia Tech Aerial Robotics

Mission System Overview

1997 Georgia Tech Aerial Robotics

Mission Group

Purpose


Provide command and coordination to all sub
-
systems in the
Aerial Robotics framework

Task List


Design and build a framework within which sub
-
systems
can interact seamlessly


Provide a centralized pool for information flow


Receive and collate information from all subsystems


Re
-
route information to appropriate sub
-
systems


Provide graphical interface for human operator


Provide algorithms to achieve competition goal


Responsible for total control of all sub
-
systems during autonomous
flight

1997 Georgia Tech Aerial Robotics

Mission
-

Top Level Algorithm


Test and initialize ground station subsystems


Test and initialize vehicle subsystems (GPS, AHRS etc..)


Autonomous take off


Fly preplanned route while vision subsystem maps field


If drum is found, place location in map and attempt label
identification


If disk is found on drum, interrupt mapping and retrieve


Plan optimal route to check uncertain labels on drums


Return to starting point and land

60 Minutes allowed to complete mission

1997 Georgia Tech Aerial Robotics

Mission
-

Flight Route


Field Mapping Plan

(Helicopter maintains constant heading during flight)


1997 Georgia Tech Aerial Robotics

Control System Overview

1997 Georgia Tech Aerial Robotics

Control

Purpose


To design reliable controllers to achieve
state vector

requested by mission controller

1997 Georgia Tech Aerial Robotics

Control Group Tasks


Minimum complexity Math Model


NASA Model currently considered


Model matching


Linearize about Hover (?)


Graphical Simulation


Allow pilot to fly model/airframe through PC


Architecture to mix pilot and control outputs


Integration with Mission Status Display


Integrate with other sub
-
systems


Develop Control Laws (PID or better)


Flight Tests

Controller tuning Framework

1997 Georgia Tech Aerial Robotics

Control
-

Four PID Controllers

Overview of the
S
tability and
C
ontrol
A
ugmentation
S
ystem

1997 Georgia Tech Aerial Robotics

Control
-

Tuning the Controllers

Example
-

Tuning Pitch Controller


Design initial gains using model


Flight test


Use pitch controller on airframe


Use pilot to control roll, yaw, altitude


Collect data and any un
-
predictable behavior


Match model and re
-
tune controller

1997 Georgia Tech Aerial Robotics

Vision System Overview

1997 Georgia Tech Aerial Robotics

Vision

Purpose


To develop image processing software and hardware to
achieve vision based tasks


Task List


Hardware


Camera Selection and mounting


Receiver and Transmitter selection


Software


Map the field


Locate Drums


Identify Labels


Locate Disk

1997 Georgia Tech Aerial Robotics

Vision
-

Arena Mapping

Mapping


Given a series of pictures and their x,y,altitude coordinates
the mapping software creates a mosaic map of the arena

1997 Georgia Tech Aerial Robotics

Vision
-

Drum Location

Given a picture map of the arena, the software will pick out
high probability locations for the drums. The drum location
software will be a feature extraction process of some kind.

1997 Georgia Tech Aerial Robotics

Vision
-

Disk and Label Location


Given high resolution pictures of the area near a drum


Look for labels and identify them using a neural net or
template matching techniques. The software should
accommodate varying positions, rotations and scaling of labels


Use filters to check for the distinct orange disk

1997 Georgia Tech Aerial Robotics

Interface System Overview

1997 Georgia Tech Aerial Robotics

Interface Group

Purpose


To design, build, test, and program the electronic systems
on
-
board the vehicle, and to design the communications
network for the ground station.

Tasks


Flight computer/on
-
board hardware design


Flight computer build/test


Flight computer programming


System control


Control laws


Communications


Sensor data aquisition


Ground station TCP/IP networking


Sensor testing/evaluation/integration


Final system bench testing

1997 Georgia Tech Aerial Robotics

Interface
-

Flight Computer



Two Processors



Flight Control (SCAS) / Sensor data manipulation / State tracking



Communications / Mission control



Multiplexer
-

switch between computer and remote human control



Retriever control and status

1997 Georgia Tech Aerial Robotics

Retriever System Overview

1997 Georgia Tech Aerial Robotics

Retriever Group

Purpose

Design, prototype, build and test a system to retrieve the sample disk.


Previous Design Concepts


Single disk
-
drive magnet on string


Aluminum tubing on string (drag
-
catcher)


Semi
-
inflated balloon with magnets


Netting with magnets


“Magnet Spider”
-

flexible arms with magnets to close around disk

1997 Georgia Tech Aerial Robotics

Retriever
-

Design

Current Prototype

“Magnet Net”


Two rods connected to crossbar by slide


String and reel on DC motor to lower/raise retrieval apparatus


Meshed triangle with magnetic rings:

1997 Georgia Tech Aerial Robotics

Platform System Overview

1997 Georgia Tech Aerial Robotics

Platform Group

Purpose


To handle vehicle maintenance, equipment mounting, and
provide testing support.

Task List


Assist in field testing of flight computer, development of controller


Platform analysis/selection


Payload testing


Obtain spares


Optimize equipment placement


Assist in system testing for other groups


Fly with camera/transmitter
-

record video


On
-
board testing of GPS, altimeter, motion pak


Assist in sensor calibration


Provide support for final field testing/system integration

1997 Georgia Tech Aerial Robotics

Platform