Unmanned Aerial Vehicle of Bits, Pilani-Dubai Campus for the International Aerial Robotics Competition 2011

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  • Topic: PID controller, Control theory, International Aerial Robotics Competition
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  • Published : November 9, 2012
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Unmanned Aerial Vehicle of BITS, Pilani-Dubai Campus for the International Aerial Robotics Competition 2011 Saurabh Ladha, Deepan Kishore Kumar, Robin Singh ,Pavitra Bhalla, Anant Mittal, Aditya Jain, Anshul Upreti, Prof. Dr. R.K.Mittal, Dr Anand Kumar Birla Institute of Technology and Science, Pilani-Dubai Campus, Dubai, UAE ABSTRACT The Intelligent Flying Object for Reconnaissance (IFOR) is an autonomous aerial vehicle that has been developed by BITS Pilani Dubai Campus students. The vehicle is capable of localizing itself using the SLAM algorithm, stabilize its attitude (pitch, roll and yaw) and altitude using PID controllers, plan paths around obstacles and navigate an unknown indoor environment with wall following guidance. In addition, it has been designed to be capable of pattern recognition which would enable it to recognize images and signs. These features enable the IFOR to execute the 6th mission of the International Aerial Robotics Competition, which involves scanning an unknown indoor arena protected by laser barriers and cameras, bestrewn with obstacles, in the search for a flash drive. 1. INTRODUCTION The field of robotics is witnessing a paradigm shift in the operation and use of robots. With robots becoming autonomous and intelligent day by day, their application and use has increased tremendously. Aerial robots specifically have an edge over other autonomous vehicles due to its higher degrees of freedom in motion and agile maneuverability. To tap these features and advance the applications and versatility of the quadrotor is the aim of the team. 1.1 Problem Statement The 6th mission of the IARC requires teams to infiltrate a military facility from which a flash drive has to be retrieved and replaced by a decoy. This flash drive is placed in the ‘Office of the Chief of Security’, identifiable by a unique Arabic pattern. To reach this room, a vehicle must explore a ‘maze’ of rooms avoiding randomly placed obstacles along its path. In addition it must also avoid detection by a camera and laser barriers placed within the arena. Once the target pen drive is found it must retrieve the object after dropping a decoy in its place, the entire mission must be performed in under 10 minutes. 1.2 Conceptual Solution Team IFOR will be using a quadrotor as its aerial vehicle to execute the 6th mission. The vehicle will use wall following guidance to explore the maze, whilst a path planning system shall continuosly scan the environment to plan optimum paths around obstacles. Localization in a global frame can be accomplished using the SLAM algorithm, the output of which can be used by a Drift Control system to

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correct unintentional drift. The Image processing routine runs in parallel to find recognizable patterns in its surrounding.

 

Ground
 Station
 
Wi-­‐Fi
 
  2.4
 GHz
 

Hokuyo
 scanning
  laser
 range
 finder
 

Camera
 

  Guidance,
 Navigation,
 Control
  -­‐Mission
 planner
  -­‐Wall
 following
 guidance
 
  -­‐Path
 planning
  -­‐Target
 retrieval
  -­‐Pattern
 matching
 
  CoreExpress
 breakout
 board
 
 

Intel
 Atom
 Z530
 

  Image
 recognition
 
 
Analog
  72
 MHz
 

 

Safety
 Pilot
 

  Inertial
 Measurement
 Unit
  -­‐MEMS
 gyro
 sensors
  -­‐3D
 magnetic
 compass
  -­‐3
 axis
 accelerometer
 
 
 

ARM7
 Microprocessor
 
Stability
 Augmentation
 System
  -­‐Altitude
 hold
  -­‐Attitude
 hold
 
 

 

Motors
 

 

Sonar
 Altimeter
 

Figure of Overall system architecture 1.3 Yearly Milestones In the second year of the 6th Mission, Team IFOR intends to fly autonomously, navigate through the arena, and implement drift control, path planning and image processing(limited to recognition of the...
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