Autonomous Navigation for Flying Robots - Presentation

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Autonomous Navigation for Flying Robots

Lecture 1.3: . Flying Principle of a . Quadrotor. Jürgen . Sturm. Technische. . Universität. . München. Quadrotor. : Flying Principle. What do we need to do to keep the position?. Jürgen Sturm.

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Autonomous Navigation for Flying Robots






Presentation on theme: "Autonomous Navigation for Flying Robots"— Presentation transcript:

Slide1

Autonomous Navigation for Flying RobotsLecture 1.3: Flying Principle of a Quadrotor

Jürgen

Sturm

Technische

Universität

MünchenSlide2

Quadrotor: Flying PrincipleWhat do we need to do to keep the position?

Jürgen Sturm

Autonomous Navigation for Flying Robots

2

http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/Slide3

Quadrotor: Flying PrincipleKeep position:Thrust compensates for earth gravity

Jürgen Sturm

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3

http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/Slide4

Quadrotor: Flying PrincipleKeep position:Thrust compensates for earth gravityTorques of all four rotors sum to

zero

Jürgen Sturm

Autonomous Navigation for Flying Robots

4

http://blog.parrot.com/2010/02/10/macworld-2010-fly-the-parrot-ardrone/Slide5

Quadrotor: Basic MotionsJürgen Sturm

Autonomous Navigation for Flying Robots

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Ascend

DescendSlide6

Quadrotor: Basic MotionsJürgen Sturm

Autonomous Navigation for Flying Robots

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Turn Left

Turn RightSlide7

Quadrotor: Basic Motions

Move

forward

Move backwards

Jürgen Sturm

Autonomous Navigation for Flying Robots

7Slide8

Quadrotor: Basic MotionsJürgen Sturm

Autonomous Navigation for Flying Robots

8

Move

left

Move rightSlide9

Example: Parrot Ardrone 2.0Actuators4 brushless motors, 14.5W

AVR CPU motor controllers

LiPo

battery, 1000mAh

Jürgen Sturm

Autonomous Navigation for Flying Robots

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http://ardrone2.parrot.com/ardrone-2/specifications/Slide10

Example: Parrot Ardrone 2.0SensorsGyroscope, accelerometer, magnetometer (IMU)

Ultrasound height sensor

Pressure sensor

Visual

odometry

sensor (60fps)Front camera (720p, 30fps)

Jürgen Sturm

Autonomous Navigation for Flying Robots10

http://ardrone2.parrot.com/ardrone-2/specifications/Slide11

Example: Parrot Ardrone 2.0Embedded Linux systemARM Cortex A8, 1GHz

Linux 2.6.32

USB 2.0 host

WiFi

b,g,nOpen-source API

Jürgen Sturm

Autonomous Navigation for Flying Robots

11

http://ardrone2.parrot.com/ardrone-2/specifications/Slide12

Available Platforms

Commercial platforms

Parrot

Ardrone

AscTec

Hummingbirg, Pelican, Firefly

Bitcraze Crazyflie…Community/open-source projectsMikrokopter…

Jürgen SturmAutonomous Navigation for Flying Robots

12

http://

www.seeedstudio.com/depot/

Crazyflie-Nano-Quadcopter-Kit-6DOF-with-Crazyradio-BCCFK01B-p-1364.html

https://www.mikrocontroller.com/Slide13

Interactive ExerciseTest your understanding of the flight principleWeb-based quadrotor

simulator

Programmable in Python

For the moment, assume we have no noise

Specify a

sequence of motor commands to

Ascend, descend, fly forward, fly left, …Fly 1m forward, 1m left

, …Fly (blindly) through the parcours!Jürgen Sturm

Autonomous Navigation for Flying Robots13