MIT2_017JF09_sw1_proposal - Autonomous Navigation Position...

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Autonomous Navigation, Position Control, and Landing of a Quadrotor Using GPS and Vision Group 1 Photo of the Ascending Technologies Hummingbird Autopilot Quadrocopter removed due to copyright restrictions. September 29, 2009 2.017 Design of Electromechanical Robotic Systems MIT Department of Mechanical Engineering
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I. Objectives The purpose of this project is to design and implement an integrated navigation system for the Ascending Technologies Hummingbird quadrotor that enables it to autonomously hold a position, fly through a fixed course, take pictures, and land on a marked location. II. Project Description and Proposed Approach A. Background One of the biggest challenges facing unmanned aerial vehicles (UAVs) today is landing safely without human control. The ability to make precision landings is important for designing aircrafts that can inspect small targets or that need to re-fuel automatically. An error range of a few meters is unacceptable when landing a high speed vehicle. Generally, UAVs rely on a Global Positioning System (GPS) for movement since they tend to fly over obstacles and observe from a distance. However, UAVs designed for use in more claustrophobic environments (i.e. urban, forest) need a more reliable source of relative positioning information. Combining GPS with another type of control such as camera vision would provide UAVs with this extra precision. B. Goals and Functional Requirements There are four final goals of this mission: maintain a given position, navigate through a preset course, take pictures, and land on a marked target. Ultimately, we will collect GPS data during each part of the mission and plot them on three-dimensional coordinate axes. Figure A: The location of the quadrotor hovering in place. Figure B: The path of the quadrotor following a preset square pattern, centering itself over a marked target to take pictures, and making a precision landing. Our projected plan can be summarized in an “objectives tree” as seen below. Many functional requirements such as getting the sensors working and writing programming code to implement them into the quadrotor system are required before we can accomplish the final tasks, which are highlighted in red. Land on a
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MIT2_017JF09_sw1_proposal - Autonomous Navigation Position...

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