Difference between revisions of "Laserhawk"
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== Geometry == | == Geometry == | ||
[[Image:geometry1.png| | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
[[Image:geometry2.png| | !colspan=2|Laserhawk geometry | ||
|- | |||
|bgcolor=#aaaaff|<center>Overview</center>||bgcolor=#aaaaff|<center>Detail</center> | |||
|- | |||
|[[Image:geometry1.png|250px|center|scan line relative to heading and track]] | |||
|[[Image:geometry2.png|250px|center|Elevation and bird's eye view of scan area]] | |||
|} | |||
* nominal UAV flight velocity : 20-30 m/s | * nominal UAV flight velocity : 20-30 m/s | ||
* nominal UAV flight height AGL : 30 m | * nominal UAV flight height AGL : 30 m | ||
Revision as of 09:40, 2 February 2011
LaserHawk Project Description
Lidar UAV for traversability map generation
High-level Goals
- Autonomous flights of Multiplex Mentor UAV with onboard payload including:
- Hokuyo UTM-30LX LIDAR sensor
- Gumstix Overo
- Xsens IMU/AHRS
- Paparazzi autopilot
- 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 : 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
| 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
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 |