Update Abe Bachrach Ruijie He Sam Prentice Nicholas Roy Feb 14 2008 Happy Valentines Mission Description Scenario Terrorists have taken over bank building 1km away Holding hostages in 1 of the rooms ID: 591586
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MAV’08 Research Update
Abe BachrachRuijie HeSam PrenticeNicholas RoyFeb 14, 2008Happy Valentine’s!Slide2
Mission Description
ScenarioTerrorists have taken over bank building 1km awayHolding hostages in 1 of the rooms1 Guard vehicle circling area, mines presentMissionRescue hostages in 40 minutesAssetsMAVs less than 30cm in size
2 commandos, communicate via radioGround robots for disabling minesSlide3
Team MIT’s strategy
Fly helicopters to bank buildingPerform coverage pattern to search for guard, map environmentUse Google maps/Vision SLAM to identify obstacle/goal locationsSlide4
Hardware
Asctec Hornet6 rotors10-15 min flight timeGPS waypt followingData-link900Mhz Xtend
Sensors
GPS, IMU, compass, Pressure sensor
2.4Ghz cameraSlide5
Flight videos – GPS hoveringSlide6
Flight videos – GPS followingSlide7
Software
TrackingSlide8
Software
Commando planning