Laserhawk

x

LaserHawk Project Description

Lidar UAV for traversability map generation

High-level Goals

1. Autonomous flights of Multiplex Mentor UAV with onboard payload including:
   • Hokuyo UTM-30LX LIDAR sensor
   • Gumstix Overo
   • Xsens IMU/AHRS
   • Paparazzi autopilot
2. Generate traversability map that can be transmitted to UGV
   • cartesian coordinates with traversability probabilities/confidence

Current Tasks and Priorities

TASK LIST

Num	Name	Notes	Priority	Status
1	Acquire Lidar/attitude data from rooftop	use PC then gumstix	x	Starting
2	start flying mentor airframe	x	x	Bertrand ready?
3		x	x	x
x	x	x	x	x
x	x	x	x	x
x	x	x	x	x
x	x	x	x	x

Architecture

1. Communication
   • autopilot/groundstation - standard paparazzi Datalink/Telemetry serial modem-based com
   • gumstix/ground - wifi for debugging
   • UAV to UGV com : TBD

Hardware

Airborne

• Autopilot : paparazzi
• Hokuyo : UTM-30LX
• Xsens : MTi-G

Ground

• Who cares? laptops, modems, and antennae should suffice

Software

Version control : git (git-hub ok?)

Airborne

• Overo
  • OS: openembedded-built linux (rt?)
  • Drivers: hokuyo/xsens stuff (robotpkg et genom )
  • apps:
    • mainloop for sensor data processing
    • coordination with ground
    • coordination with autopilot
• Autopilot
  • paparazzi LPC2148-based firmware

Ground

• Paparazzi ground package
• gdhe for data visualization (polyline representations of laser scan lines)

Geometry

• nominal UAV flight velocity : 20-30 m/s
• nominal UAV flight height AGL : 30 m
• Lidar sensor resolution : 1080 points over 270 deg

Risks

Risks and unanswered questions

Num	Name	Notes	Priority	Status
1	Lidar performance	at 30m flight height, over row-reflectance surfaces (roads)	x
2	Crashing Lidar	Will build metal/foam box for protection	x	x
3	Radio interference at Elrob	need robust behaviors with lost com	x	x
x	x	x	x	x
x	x	x	x	x
x	x	x	x	x