Unmanned Aerial Vehicle of Bits, Pilani-Dubai Campus for the International Aerial Robotics Competition 2011
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
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
References: (2007). Quadrotor