Difference between revisions of "Laserhawk"
Jump to navigation
Jump to search
Line 8: | Line 8: | ||
#Autonomous flights of Multiplex Mentor UAV with onboard payload including: | #Autonomous flights of Multiplex Mentor UAV with onboard payload including: | ||
#*Hokuyo [http://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html UTM-30LX] LIDAR sensor | #*Hokuyo [http://www.hokuyo-aut.jp/02sensor/07scanner/utm_30lx.html UTM-30LX] LIDAR sensor | ||
#*Gumstix Overo | #*OMAP3 Gumstix [http://www.gumstix.com/store/catalog/index.php?cPath=27_33 Overo] | ||
#*Xsens IMU/AHRS | #*Xsens [http://www.xsens.com/en/general/mti MTi] and [http://www.xsens.com/en/general/mti-g MTi-G] IMU/AHRS | ||
#*Paparazzi autopilot | #*[http://paparazzi.enac.fr/ Paparazzi] autopilot | ||
#Generate traversability map that can be transmitted to UGV | #Generate traversability map that can be transmitted to UGV | ||
#*cartesian coordinates with traversability probabilities/confidence | #*cartesian coordinates with traversability probabilities/confidence |
Revision as of 14:57, 6 February 2011
LaserHawk Project Description
Lidar UAV for traversability map generation
High-level Goals
- Autonomous flights of Multiplex Mentor UAV with onboard payload including:
- Generate traversability map that can be transmitted to UGV
- cartesian coordinates with traversability probabilities/confidence
Current Tasks and Priorities
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
- Communication
- autopilot/groundstation - standard paparazzi Datalink/Telemetry serial modem-based com
- gumstix/ground - wifi for debugging
- UAV to UGV com : TBD
Hardware
Airborne
Ground
- Who cares? laptops, modems, and antennae should suffice
Software
Version control : github
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)
Projects:
- hoku2gdhe - Demo application uses hokuyo and Xsens MTI sensor and generates polylines in GDHE
Geometry
Laserhawk geometry | |
---|---|
- nominal UAV flight velocity : 20-30 m/s
- nominal UAV flight height AGL : 30 m
- Lidar sensor resolution : 1080 points over 270 deg visible (1440 points over 360 deg) @40Hz
- ground covered distance during one revolution of scanner:
- For 90° interest zone :
- scan line advances down ground track :
- scan line proceeds along sensor rotation (for a 90 scan, this is twice the AGL height) :
- Resolution :
cm between pixels - Angle relative to track :
(negligible relative to crab angle)
Risks
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 |