Transcript Document
MICRO-CART UNMANNED AERIAL VEHICLE Microprocessor–Controlled AerIal RobotIcs Team Introduction Approach and Considerations Abstract Proposed Approach The Association for Unmanned Vehicle Systems International (AUVSI) holds an International Aerial Robotics Competition (IARC) every July at Ft. Benning, Georgia. Collegiate teams from around the world enter unmanned aerial vehicles (UAVs) capable of autonomous flight into this competition where specific mission objectives must be met. The goal of the MicroprocessorControlled Aerial Robotics Team (Micro-CART) is to submit a UAV for the entry level of IARC by developing a fully-autonomous helicopter. This will showcase the role of Iowa State in the field of unmanned aerial robotics and provide valuable design experience to Micro-CART team members. • Vehicle – X-cell #1005-1 gas helicopter • Computation – On-board controller (PC/104) to provide sensor interfaces and processing resources for flight control software • Navigation – GPS and magnetic compass • Communication – RF Modem • Dynamics – Inertial measurement unit (IMU) • Object Detection – Sonar transducer Radio Receiver (Controls) Human Pilot Assumptions Processing Unit Manual Override • Continued support from Iowa State University and Lockheed Martin • Sensor system will provide all necessary flight software inputs • Varied topography and a few manmade obstacles • Fair weather conditions with possible light rain or wind • Maneuver within a 430-acre area • Micro-CART team members will use the vehicle to compete in the IARC • Future use for researchers, industry representatives, or hobbyists PC-104 Power Supply (UPS) Board Servos Global Positioning System (GPS) RS-232 PC-104 ISA/ PCI Bus Gasoline Engine Limitations Technologies Considered • Current helicopter airframe limitations (lift, weight, speed, fuel) • Power considerations for on-board hardware • Software controlled basic stability • Self-navigation to GPS waypoints • Robust autonomous flight system modifiable for various missions • Documentation covering all aspects of research and accomplished tasks RS-232 RS-232 Emergency Kill Switch Expected End Product Intended Users and Uses Magnetic Compass Battery Servo Interface Control Output Operating Environment RS-232 PC-104 Processor Board Sensor Data RS-232 Inertial Measuring Unit (IMU) Communications Ground Station Control Commands RS-232 Flight Control Software Sonar Transducer Transmitter/ Receiver RF Modem Testing Considerations • Individual hardware unit testing (GPS, IMU, Compass, Sonar) • Integrated hardware unit test with flight-control • Hover, forward movement, and hold position flight tests Estimated Resources Estimated Cost for Spring 2007 (total expenses $2,308) $88 Estimated Personnel Hours/Category (1978 Total Hours) 675 $70 $50 $100 356 535 $2,000 Primary Vehicle GPS Electronics Box Transportation Project Requirements Design Objectives A/D Conversion Board Sonar Assembly • Design and build a primary aerial vehicle capable of autonomous flight • Develop an integrated system of sensors to control the aerial vehicle • Enter entry-level IARC, Summer 2007 Sensors PC-104 Stack Problem Statement Control Input 300 Kill Switch Futaba Servo Documentation Meetings Administrative 112 Research Development Project Schedule • Develop an aerial vehicle to compete in entry-level IARC Functional Requirements • Hover via autonomous flight control • Self navigation to global positioning system (GPS) waypoints • Communication between ground station and helicopter Design Constraints • Size and weight considerations • Cost minimization • Low power consumption • Protect electronics from environment Closing Summary Measurable Milestones • Sensor implementation and testing • Autonomous flight-control software testing • Communications and ground station development • Test flights: hover, forward movement, hold position Entry level functionality Team Leaders Ground Station Subteam Controls Subteam Kito Berg-Taylor AeroE Bryan Baumhover CprE Guillermo Hernandez CprE Ricardo Fonseca CprE Kito Berg-Taylor Bryan Baumhover Todd Kreykes Priyanka Singh ONGO - 03 http://seniord.ece.iastate.edu/ongo03 AeroE Leader CprE CprE EE The Micro-CART project will develop a fully autonomous UAV for the 2007 International Aerial Robotics Competition. The industry-sponsored project is funded by a Lockheed-Martin grant. Results of the project may contribute to future industrial or government products. The project provides an opportunity for students to participate in a relatively large multi-disciplinary project and compete with design engineering teams from around the world. Sensors Subteam Power and Payload Subteam Alyson Young Bai Shen Matt Lichti Bret Staehling Pankaj Makhija Jim Christgau Bill Hughes Hassan Javed CprE Leader CprE EE EE Client EE Leader EE EE EE Communications Coordinator Funding Provided By Advisors Dr. Gregory C. Smith EE/CprE Dr. John Lamont EE/CprE Prof. Ralph Patterson, III EE/CprE Scott Morgan (Lockheed Martin)