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    Development of A Mini-UAV For Urban Environments: Tony Dodd and Beniamin Apopei

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    Sumiran Manghani
    This document discusses the development of a mini unmanned aerial vehicle (UAV) for use in urban environments. It outlines the challenges of operating UAVs in urban areas, including simultaneous localization and mapping, collision avoidance, and reliable communications. It then describes the design of a prototype quadrotor MAV to address these challenges, including its components, control system simulation, and future testing plans. The overall goal is to develop a portable UAV capable of both indoor and outdoor flight for applications such as security, monitoring, and search and rescue.

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    Development of A Mini-UAV For Urban Environments: Tony Dodd and Beniamin Apopei

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    Sumiran Manghani
    34 views30 pages
    This document discusses the development of a mini unmanned aerial vehicle (UAV) for use in urban environments. It outlines the challenges of operating UAVs in urban areas, including simultaneous localization and mapping, collision avoidance, and reliable communications. It then describes the design of a prototype quadrotor MAV to address these challenges, including its components, control system simulation, and future testing plans. The overall goal is to develop a portable UAV capable of both indoor and outdoor flight for applications such as security, monitoring, and search and rescue.

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    let Mav Talk

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    Iet Mav Talk

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    This document discusses the development of a mini unmanned aerial vehicle (UAV) for use in urban environments. It outlines the challenges of operating UAVs in urban areas, including simultaneous localization and mapping, collision avoidance, and reliable communications. It then describes the design of a prototype quadrotor MAV to address these challenges, including its components, control system simulation, and future testing plans. The overall goal is to develop a portable UAV capable of both indoor and outdoor flight for applications such as security, monitoring, and search and rescue.

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    34 views30 pages

    Development of A Mini-UAV For Urban Environments: Tony Dodd and Beniamin Apopei

    Uploaded by

    Sumiran Manghani
    This document discusses the development of a mini unmanned aerial vehicle (UAV) for use in urban environments. It outlines the challenges of operating UAVs in urban areas, including simultaneous localization and mapping, collision avoidance, and reliable communications. It then describes the design of a prototype quadrotor MAV to address these challenges, including its components, control system simulation, and future testing plans. The overall goal is to develop a portable UAV capable of both indoor and outdoor flight for applications such as security, monitoring, and search and rescue.

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    Development of a MiniUAV for Urban

    Environments
    Tony Dodd and Beniamin Apopei

    Overview
    UAVs@Sheffield
    The urban environment
    The challenges
    Quadrotor MAV
    Future plans

    UAVs@Sheffield

    Platform development
    Control, mission planning, co-operative UAVs
    Simulation/hardware-in-the-loop co-simulation
    Communications (wireless, fibre optics)
    Smart and morphing structures
    Advanced composites
    Aerodynamics and design optimisation
    Energy management

    Industrial links/projects

    Three Rolls-Royce UTCs


    Boeing sponsored AMRC
    ASTRAEA
    Blue Bear Systems Research
    Home Office
    EADS
    SEAS DTC?

    UG/MSc Projects
    Technology carrier
    platform
    MAV group project
    Autonomous
    control (inertial
    and GPS)

    WUN Intelligent UAV Group


    19 research led universities
    UK, Europe, US, China, Australia,
    Canada
    Brings together worlds leading
    experts
    Collaboration, funding and exchange

    Urban Applications
    Security
    Military
    Communications
    relay
    Pollution
    monitoring
    Police and
    surveillance

    Traffic monitoring
    Fire brigade
    Search and rescue
    Crowd control
    Building inspection
    Mapping
    ...

    MoD Grand Challenge


    Create a system with a
    high degree of autonomy
    that can detect, identify,
    monitor and report a
    comprehensive range of
    military threats in an urban
    environment [7]
    www.challenge.mod.uk
    [7

    The Urban Environment

    [1]

    The Urban Environment

    [1]
    [2]

    The Urban Environment

    [1]
    [2]
    [3]

    The Urban Environment

    [1]
    [2]
    [3]

    The Challenges

    Simultaneous location and mapping (SLAM)


    Autonomous/semi-autonomous control
    Collision avoidance
    Gusting and turbulence
    Reliable wireless communications
    Stealth
    Power and energy management
    User interface/mission management
    Portable

    Urban UAVs
    Fixed wing OTH
    reconnaissance
    (superior range and
    endurance)

    [6]

    Urban UAVs
    Fixed wing OTH
    reconnaissance
    (superior range and
    endurance)
    Rotary wing urban
    operation (between
    and inside buildings)

    Urban UAVs
    Fixed wing OTH
    reconnaissance
    (superior range and
    endurance)
    Rotary wing urban
    operation (between and
    inside buildings)
    Advanced
    rotary/flapping wing
    (indoors)

    [5]

    Urban UAVs
    Fixed wing OTH
    reconnaissance (superior
    range and endurance)
    Rotary wing urban
    operation (between and
    inside buildings)
    Advanced rotary/flapping
    wing (indoors)
    Lighter than air?

    [4]

    Quadrotor MAV
    Design requirements:
    VTOL
    Stable and highly manoeuvrable
    All electric
    Indoor and outdoor operation
    Flight time > 10 min
    MTOW > 3.5kg (initial prototype > 400g)
    Portable and robust

    Why Quadrotor?
    Very efficient all power to lift
    Better payload/size ratio compact
    More stable
    More manoeuvrable
    More robust/fault tolerant

    COTS Components
    Sensors
    Inertial measurement unit
    GPS
    Firewire cameras
    Ultrasonic
    Laser
    Power
    Brushless motors
    Tilting, counter-rotating props (+ configuration)
    Lithium polymer batteries
    Structure
    Glass and carbon fibre chassis
    Processing
    Microcontroller
    Dual FPGA-DSP processors (Firewire ports)

    [8]

    [9]

    [10]

    Quadrotor Prototype I

    IMU Development
    COTS gyros and accelerometers (Analog
    Devices)
    Gyros - 300 deg/s
    Accelerometers - 2g
    PCB design
    Analogue to digital conversion
    by microcontroller
    Very low cost < 200

    Simulation and control

    Simulation and control


    Lyapunov stability analysis
    hovering operating point
    Input coupling/correlation analysis
    Hovering control
    Nonlinear control simulation
    Tuned PID simulation and real

    User interface

    Quadrotor Prototype II

    Tiltrotor Mechanism

    Video

    Future plans
    Technical challenges
    Sensor fusion
    Navigation and collision avoidance
    SLAM
    Active/passive vibration suppression
    User interface/mission management
    Batteries and structure
    Testing and applications

    References
    [1] http://www.americasarmy.com/gallery/index.php?id=27 [Accessed 2 February
    2007]
    [2]http://www2.soros.org/photogalleries/mw_gallery.php?
    series=/resources/events/mw9/hemmerle/ [Accessed 2 February 2007]
    [3] http://www.actionla.org/Iraq/IraqReport/iraq_gallery_03/pages/IMGP0060.html
    [Accessed 2 February 2007]
    [4] http://www.otherlandtoys.co.uk/silver-mylar-blimp-envelope-p-941.html
    [Accessed 2 February 2007]
    [5] http://bicoreeos.solarbotics.net/mav.html [Accessed 2 February 2007]
    [6] http://www.nd.edu/~mav/photo.htm [Accessed 2 February 2007]
    [7] http://www.challenge.mod.uk [Accessed 3 February 2007]
    [8] http://www.traquair.com/ [Accessed 3 February 2007]
    [9] http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm [Accessed 3
    February 2007]
    [10] http://www.xsens.com/ [Accessed 3 February 2007]

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