MIT2_017JF09_sw1_milstone

MIT2_017JF09_sw1_milstone - Autonomous Navigation of a...

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Autonomous Navigation of a Quadrotor Helicopter Using GPS and Vision Control Group 1 Photo of the Ascending Technologies Hummingbird Autopilot Quadrocopter removed due to copyright restrictions.
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Project Goals Fly helicopter to a predetermined location using GPS feedback Take pictures at this location Fly a planned path along GPS coordinates Take pictures along the reference path Use GPS and camera feedback to visually servo to and land on a marked target
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Autonomous landing on target Obtain compass data Obtain GPS data Communicate between XBees Pick a control algorithm Write MATLAB flight control code Test code on a simulation Collect data wirelessly Put data into MATLAB Send commands and receive data to and from quadrotor Mount hardware on quadrotor Hover in place, fly to position, and fly to multiple positions autonomously Image processing Flight Control
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Obtain image data from camera Send commands to camera Communicate between XBees with camera Take pictures wirelessly Put data into MATLAB Recognize target with camera Figure out vertical distance from target Find error in X, Y in image Turn signal into visible image Find error in Quadrotor’s position Send data to controller Land autonomously on marked target
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Software and Compass Student A
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Accomplished -> Serial connection with XBees -> Wireless connection between the compass and my laptop ->Importing the readings to a MATLAB variable
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Compass Wireless serial connection Sends data to the laptop via XBee. SIGNAL FROM THE COMPASS MUST BE INVERTED BEFORE IT IS FED TO THE XBEE! Mounted on the vehicle Inverting Op-Amp Images from the OpenClipArt Library and mangonha on Flickr.
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Getting the compass to work In order to collect data, the output signal from the compass must be inverted. Receiving serial data from the compass via XBee. This data can be imported to MATLAB.
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Importing Serial data to MATLAB Luckily, we already have a VC++ code that can read the heading of the compass. •“ MexFunction
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MIT2_017JF09_sw1_milstone - Autonomous Navigation of a...

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