1. 5HC99 Embedded Visual Control Richard van Berkel (0753933) Okke Hendriks (0758134) Douwe van Nijnatten (0732553) Koen Hausmans (0661622)

2. Content AR Parrot Drone Other commercially available Quadcopters Home built Quadcopter Pros and cons Summary

3. AR Parrot Drone Hardware Processor: Arm A9 dual core 468MHz Memory: DDR 128Mbyte at 200MHz Communication: Wifi b/g and USB high speed Altitude measurement: 2 Ultrasound sensors Motion measurement: 6 degrees of freedom MEMS- based motion sensor Ground speed measurement: Camera Battery: 1000mAh, 11.1V LiPo Motors: 4 brushless engines with three phases current

4. AR Parrot Drone Software

5. Other commercially available Quadcopters QuadcopterGPSGyroAcceleromterCameraStreamingPrice E-Flide BladeV140 AR Dronevvvv300 Dragan Flyer X8 vvvvv4000+

6. Self-Build Need and Cost BoardPric e CPUDSPGPUMemUSBIOSD BeagleBone90ARM-Cortex A8 720MHz NoYes256MB1GPIOYes, microSD BeagleBoard130ARM-Cortex A8 720MHz 520MHz 720p@30fps Yes512MB1Cam. Port, RS232, S- Video, DVI- D, JTAG Yes, 4Gb included BeagleBoard-XM150ARM-Cortex A8 1GHz 800MHz 720p@30fps Yes512MB4Cam. Port, RS232, S- Video, DVI- D, JTAG Yes PandaBoard150ARM-Cortex A9 Dual Core 1GHz Yes 1GB2Cam. Port, RS232, GPIO, WLAN/Bluet hooth, JTAG Yes

7. Overall Price Selfbuild WhatPrice Frame50 Motors40 ESC’s45 Rotors5 Sensors20-60 Cam(s)15-30 Accu30 Embedded PC73-150 Total278-410 Lidar70

8. Lidar Light detection and ranging (LIDAR) Optical remote sensing technology Uses laser and sensor to estimate distance Can generate a map of the room Can be used for global control No (cheap) commercial solution available

9. Pros and cons AR Parat DroneHome Built Cost €300,-Cost €278-410 (ex. Lidar) Can carry less weight in comparison with the home built version. It is more fun to build our own Quadcopter instead of using a prefab one. It functions pretty well already (also safety features are included). Easier to meet extra functional requirements such as SLAM (Simultaneous Localization And Mapping). Robust designIt takes time before first take-off Much more processing power on board (also DSP and GPU) which is needed for visual control

10. Summary Build own Quadcopter Add Lidar to the Quadcopter Implement SLAM