Development of Mission Based Micro Air vehicles and Unmanned Ground Vehicle. Team Reg # 1015 Team...
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Transcript of Development of Mission Based Micro Air vehicles and Unmanned Ground Vehicle. Team Reg # 1015 Team...
Development of Mission Based Micro Air vehicles and Unmanned
Ground Vehicle.
Team Reg # 1015
Team Members:National Aerospace Laboratories
M S Ramaiah School of Advanced StudiesCORAL Technologies Pvt. Ltd.
E.N.R. Models
Aim
• To develop MAV & UGV systems to complete the mission stated for the MAV08 event
Plan of completing the Mission• Fixed Wing MAVs – Locate Terrorist Squad and the Hideout
Location building where hostages are kept. Mines and Obstacles to be located. Mines and Obstacles to be marked on the Terrain Map.
• The UGV will move through the terrain avoiding the obstacles by selecting an optimum path to reach 100 meters from the building.
• The Rotary MAVs latched on to the UGV will take off autonomously and move closer to the building and sound sensors in the Rotary MAVs will locate the hostages by their shouting relayed through a sound box (simulated sound).
• Commandos assigned to the team will get the instruction and rescue the hostages from the room.
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Video Mosaic TerrainObject’s Location Detection
Covered Positions (CP)UGV Ingress Point (IP)MAV Land Point (LP)UGV End Point (EP)Perching Point (PP)Land Mines (LM)Obstacles (OB)
Path Finding
UGV Path
R-MAV Path
UGV ControlTo Next Location
Path F-MAV
UGV SensorsObstacle Detection
UGV, MAV Location
If EPY
N
R-MAV Launch From UGV
R-MAV Control To Next Location
R-MAV SensorsObstacle Detection
R-MAV AV Control
AnalysisRoomVideoAudioE
nd Y
N AV Control
System Flowchart
Equipment Used• Fixed Wing MAVs – 3nos
• UGV – 1no
• Rotary MAV – 1nos
300mm Sphere 325mm Sphere 500mm Sphere
“BLACK KITE”
Fixed Wing MAV – “Black Kite” (S)Specifications
Planform: Inverse Zimmermann.Airfoil: “Selig 4083”- Mean CamberPayload: Miniature Color Camera.Weight with Payload: Size: Fits in 300mm Sphere.Wing Span: 262mmWing Area: 0.036 e6 mm2
Chord Length: 211mmAspect Ratio: 1.906Propulsion: AXi2204/54 Brushless Motor
APC 6”x4”
Planform: Inverse Zimmermann.Airfoil: “Selig 4083”- Mean CamberPayload: Miniature Color Camera.Weight with Payload: Size: Fits in 325mm Sphere.Wing Span: 316.6mmWing Area: 0.059 e6 mm2
Chord Length:245mmAspect Ratio: 1.69Propulsion: AXi2204/54 Brushless Motor
APC 6”x4”
Fixed Wing MAV – “Black Kite” (M)Specifications
Planform: Inverse Zimmermann.Airfoil: “Selig 4083”- Mean CamberPayload: Miniature Color Camera.Weight with Payload: Size: Fits in 500mm Sphere.Wing Span: 432mmWing Area: 0.126 e6 mm2
Chord Length: 359mmAspect Ratio: 1.48Autopilot: CORAL Autopilot Pearl-mAP-0701Propulsion: AXi2204/54 Brushless Motor
APC 7”x6”
Fixed Wing MAV – “Black Kite” (XL)Specifications
NAL MAVs
MEGHDOOTH
FEATHER 1
NAGA 1
FEATHER 2 FEATHER 3
DISCNAGA 2
Under Development: MEGHA and FEATHER 4 and SURYA
All composite weather proof/crash proof “BLACK KITE”
“BLACK KITE” FLIGHT
UGV: “Kainos”Specifications
Size: Wheel Base: 1.5mWidth: 0.9m Ground Clearance: 0.3m
Weight: 400kgs approxDrive: DC MotorPower: 4.5kWAverage Speed: 40 m/s.Steering Control: Electronic Power ModulePayload: Miniature Color Camera.Autonomy: Point to Point movement.Collusion Avoidance: Optic Flow Sensors and
Ultrasonic Sensors
“Kainos”
Kainos VIDEO
Rotary MAV
• Size: Fits in 300mm Sphere
Activity chart• Fixed MAV will complete the required circuit and
simultaneously capture video images.• Stills from the video will be used to locate the mines
and obstacles.• This will be marked on the terrain map and the UGV
path will be generated.• The UGV will follow the path defined and go to the
parking point.• The rotary MAV will be launched into the perch points
and transmit sound and video.• The commandos will be signaled to enter the hostage
room.