Autonomous Agile Aerial Robots

By P.A.MURTHY 09A81A04A4 IV/IV ECE

STRUCTURE OF PRESENTATION
INTRODUCTION TO UNMANNED AIR VEHICLES MICRO QUADROTOR QUADROTOR DYNAMICS

AGILITY WITH SCALING

TRAJECTORY GENERATION CONTROL AND PLANNING FOR GROUPS CONCLUSION

Unmanned Air Vehicles

An unmanned aerial vehicle, commonly known as a drone, is an aircraft without a human pilot on board.
Its flight is either controlled autonomously by computers in the vehicle, or under the remote control of a pilot on the ground or in another vehicle.

They are predominantly deployed for military applications, but also used in a small but growing number of civil applications, such as firefighting and nonmilitary security work, such as surveillance of

Current UAVS

Generally large Not fully autonomous, operated by flight crews Not very agile

Small Scale
Decreasing size adds agility and widens applications
First Responders transportation search and rescue construction

Drawbacks
decreases load capacity per robot less computing power

MICRO QUADROTOR
Booms are made up of carbon fiber rods It produces four pitch propellers to produce lift with diameters of 8cms The vehicle weighs 50gms without a battery It uses a 2-cell 400 mAh LiPo battery Its Hover time is 11min..,

MICRO QUADROTOR
ELECTRONICS It contains full site of On-board sensors, ARM Cortex-M3 processor, running at 72 MHz It Contains a 3-axis magnetometer, a 3-axis accelerometer, a 2-axis 2000 deg/sec rate gyro for the roll and pitch axes, and a single axis 500 deg/sec rate gyro for the yaw axis For communication the vehicle contains two Zigbee transceivers

Aerial Robots

TRAJECTORY GENERATION

Movement
Nonlinear Dynamics, Nonlinear trajectory generation Couple of methods
12 dimensional curved space transformed into flat 4 dimensional space ( x, y, z, yaw). Plans min snap trajectory, transformed back to move (position -> velocity -> acceleration -> jerk -> snap) Hybrid techniques combining optimal control and heuristics used to plan movement when environment partially known.

Remembers motions and links them together

LIMITATION WITH ONE ROBOT

OVERCOMING PAYLOAD CAPACITY PROBLEM

Decentralized Control
Local Information Anonymity

CONCLUSION