Laserhawk

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LaserHawk Project Description

Lidar UAV for traversability map generation

High-level Goals

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  1. Autonomous flights of Multiplex Mentor UAV with onboard payload including:
  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

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:

  1. hoku2gdhe - Demo application uses hokuyo and Xsens MTI sensor and generates polylines in GDHE
    hoku2gdhe

Geometry

Laserhawk geometry
Overview
Detail
scan line relative to heading and track
Elevation and bird's eye view of scan area
Figure 1
Figure 2


  • 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

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