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
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
- 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
- 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
|
