Presentation is loading. Please wait.

Presentation is loading. Please wait.

Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)

Similar presentations


Presentation on theme: "Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)"— Presentation transcript:

1 Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)

2 Outline Project Summary Previous Work Preliminary Work o Quadcopter Investigation o Equipment and Parts List o Block Diagram o Ultrasonic Sensor o GPS Schedule Overview

3 Project Summary Human Tracking Gesture Recognition Live Video Feed & Data Readings via Wifi Obstacle Avoidance and Auto-Stabilization R/C Manual Override

4 Human Tracking GPS Image Processing

5 Gesture Recognition BeagleBone Black I2C Communication Camera Bicycle Hand Signal o Increase Following Distance o Decrease Following Distance o Land

6 Live Video Feed & Data Readings via Wifi Video Captured by Camera GPS Data

7 Obstacle Avoidance and Auto- Stabilization Ultrasonic Sensing Image Processing Inertial Measurement Unit

8 R/C Manual Override Required by FFA Turnigy Power System 9X 2.4G 9 Channel Controller R/C MUX Circuit

9 Previous Work Junior Project o GPS Receiver o ATmega Based Microcontroller Introduction to NMEA Messages Serial Communication via UART for GPS Data

10 Previous Work Junior Project o Sharp Infrared Sensors for Edge Detection o ATmega128 Microcontroller Roboboat Senior Project o Moving Average Low-Pass Filter

11 Preliminary Work Quadcopter Investigation Equipment and Parts List Block Diagram Ultrasonic Sensor GPS

12 Quadcopter Investigation Two ESC Failures Lack of Information/Poor Documentation Black Box Controllers o FC1212-S (Flight Controller) o AHRS-S (IMU)

13 Considered Alternative Options Option 1 - Repair X650CF, New XAircraft Parts Option 2 - Keep X650CF Frame, New Generic Parts Option 3 - Purchase a New Quadcopter o APM:Copter o ELEV-8 Parallax o Parrot AR Drone o DJI Phantom

14 Summary of Considerations

15 Platform Chosen Current XAircraft Quadcopter Most Cost Effective Assembled RTF Platform Minor Tests Required for Flying Condition

16 Equipment and Parts List ATmega Microprocessor Beagle Bone Black XL-MaxSonar-EZ3 (MB1230) Ultrasonic Sensor Adafruit 66 Channel MTK3339 GPS Breakout Board V3

17 Block Diagram

18 Ultrasonic Sensor Specifications XL-MaxSonar-EZ3 Ultrasonic Sensor Size: 2.2cm x 2.0cm x 2.5cm (6.1g) Range: 20cm - 750cm (datasheet) o Lab Test: Max Distance = About 500cm Reading rate: 10 Hz o Travel Limitation w/ Six Ultrasonic Sensor = 8.3m/s

19 Preliminary Work - Ultrasonic Sensor PWM Signal Output Low Pass Filter of Signal Analog Signal Output and ADC Low Noise Chaining of Multiple Sensors

20 Low Noise Chaining Diagram

21 Adafruit GPS Specifications Sensitivity: -165dBm o Typically around -160 or -165dBm Update Rate: 10Hz Max o Standard 1Hz Position Accuracy: 1.8m Velocity Accuracy: 0.1m/s

22 Preliminary Work - Adafruit GPS Program for ATmega328P Shift to BeagleBone Black

23 Schedule Overview Ultrasonic Sensor Testing - 12/07/2013 Quadcopter Manual R/C Flight - 12/10/2013 Quadcopter Autonomous Flight - 2/6/2014 GPS Waypoint Implementation - 2/20/2014 Obstacle Avoidance - 4/08/2014 Gesture Recognition - 05/06/2014

24 Questions?


Download ppt "Dan Garber, Jacob Hindle, and Bradley Lan Advisor: Dr. Joseph Driscoll Autonomous Quadcopter with Human Tracking and Gesture Recognition (QUADHTGR)"

Similar presentations


Ads by Google