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AERIAL ROBOTICS

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SUBSYSTEMS

  1. Flight Mechanics
    1. Motions of UAV
    2. Controls of aircraft
    3. Controls of rotorcraft
  2. Avionics
    • Electronics
    • Autopilot
      1. IMU
      2. Onboard Processor
    • Communications
  3. Vision based sensing
    • Image Processing
    • OpenCV
  4. Controller design
    • Basic control theory
    • PID controller
  5. Integration

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SUBSYSTEMS

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MOTIONS

UAV Axes of motion (NED frame)

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MOTIONS

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DRIVING FORCES

Forces on Aircraft

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DRIVING FORCES

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CONTROLS

of

ROTORCRAFT

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CONTROLS of ROTORCRAFT

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QUADROTOR

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QUADROTOR

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Inertial measurement unit

INERTIAL MEASUREMENT UNIT

Accelerometer

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IMU

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Inertial measurement unit

INERTIAL MEASUREMENT UNIT

Gyroscope

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IMU

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VISION

Computer Vision:

Input: Images

Output: Knowledge of the scene

Method: Image Processing, Machine Learning etc.

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Image Processing:

Input: Images

Output: Images

Method: Differential Filtering, Thresholding etc.

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VISION

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  • Open source computer vision library.
  • Implemented in C/C++, python and Java.
  • Modules:
    • core module
    • imgproc module
    • highgui module
    • imgcodes module

https://docs.opencv.org/2.4/doc/tutorials/tutorials.html

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OPENCV

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  • Storage:
    • Mat img;
  • Input:
    • Img = imread(“/path_to_file”, CV_LOAD_IMAGE_COLOR);
  • Conversion:
    • cvtColor(img, img, CV_BGR2HSV);
  • GUI:
    • namedWindow(“image”, WINDOW_AUTOSIZE);
  • Output:
    • imwrite(“filename.jpg”, img);
    • imshow(“image”, img);

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OPENCV

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  • blur:
    • blur(img1, img2, kernel_size);
  • GaussianBlur:
    • GaussianBlur(img1,img2, kernel_size);
  • medianBlur:
    • medianBlur(img1, img2, kernel_size);
  • erode:
    • erode(img1, img2, kernel_size);
  • dilate:
    • dilate(img1, img2, kernel_size);

FILTERING

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OPENCV

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  • Thresholding creates binary images by turning all pixels below some threshold to zero and all pixels above to one.
  • threshold(img_gray, img_thresh, threshold_value, max_BINARY_value, threshold_type);
  • inRange(img_gray,img_thresh, lower_thresh, upper_thresh, frame_threshold);

THRESHOLDING

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OPENCV

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CONTROLLER

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CONTROLLER

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PID CONTROLLER

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PID CONTROLLER

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PID CONTROLLER

Effect of changing Kp

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PID CONTROLLER

Effect of changing Kd

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PID CONTROLLER

Effect of changing Ki

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Servo Motor

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Source : https://www.electrical4u.com/what-is-servo-motor/

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SERVO CONTROLLER

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  • Open-Source and freely available
  • Huge community and collaborative environment.
  • Language Independent (Python, C++, Java, JS, more…)
  • Thousands of available packages to use for robotics!!
  • Seamless integration with most of the open-source projects and libraries. Eg: OpenCV, Gazebo, Matlab(using Robotics System Toolbox), etc.
  • ROS is a distributed framework of processes (aka Nodes) that enables executables to be individually designed and loosely coupled at runtime.

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ROBOT OS

But not an OS

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ROBOT OS

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ROS Computation Graph Level

Nodes

Master

Parameter Server

Bags

Topics

Services

Messages

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ROBOT OS

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Thank You!

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