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![Page 1: Outline](https://reader030.fdocuments.in/reader030/viewer/2022032805/568132ad550346895d995a75/html5/thumbnails/1.jpg)
![Page 2: Outline](https://reader030.fdocuments.in/reader030/viewer/2022032805/568132ad550346895d995a75/html5/thumbnails/2.jpg)
Outline
• Previous Accomplishmentso Last year's SURGo Mapkin
• Proposal Concepto Why is this useful?o The MikroKopter platformo Previous work
• Criteria For Success
![Page 3: Outline](https://reader030.fdocuments.in/reader030/viewer/2022032805/568132ad550346895d995a75/html5/thumbnails/3.jpg)
Previous Accomplishments
http://www.youtube.com/watch?v=TkMKTtFGlxc&feature=player_embedded
Quadrotor with AeroQuad base• Flexible platform for aerial robotics research.• Implemented full automatic stabilization
o Only inputs required are desired translation and rotation.o PID Tuned from AeroQuad baseo Sonar based altitude hold
• Controller capable of supporting other aerial platforms.
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Quadrotor in action
• Flown by remote control
• "Stable mode" lets the quadrotor balance itself
• "Acrobatic mode" is rate control for the quadrotor's movement.
![Page 5: Outline](https://reader030.fdocuments.in/reader030/viewer/2022032805/568132ad550346895d995a75/html5/thumbnails/5.jpg)
Mapkin• Our Build 18 Project, first week of the semester• Ground vehicle• XBOX Kinect sensor• Map out obstacles in a 2D Grid
• Future goal: SLAM in 2D to learn concepts to apply to Quadrotor
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Proposal Concepts
"Aerial Point-Cloud Generation using the Microsoft Kinect on an Autonomous Quadrotor"
• Last SURG: outdoor, unstructured environments, control of the quadrotor and mapping.
• Current proposal:o Constrained to indoor environments, tight obstacles to avoido XBOX Kinect depth and color sensingo Point-Cloud generation in 3D (offboard)o More online computation for autonomous navigation
• Goal: quadrotor navigates itself a short distance indoor, builds a point-cloud representation on a nearby computer
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Why is this useful?
• Feedback from robots needs to be useful for humans
• Applications:o Exploring disaster zoneso Exploring unreachable areaso Military
• Navigation can be autonomous or RC
• Point-clouds mean the robot's perspective could easily be understood by a human operator
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The MikroKopter Platform
• Quadrotor kit• Many parts of the
navigation, etc are done (most are editable code)
• Waypoint navigation provided
• We'll need to add:o Microsoft Kinect sensor for visiono Any additional sensors (e.g. downward sonar)o BeagleBoard processor for onboard control
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Previous Work
• CMU Robotics Institute, including the Micro Air Vehicle Lab• University of Pennsylvania, "Aggressive Maneuvers"
o We'd like our perception and obstacle detection onboard.• Our own last SURG
o We're confident we can get a flying quadrotor quickly and move on to complex behaviors
• Other mapping/SLAM projectso http://www.youtube.com/watch?v=D_nt5Qg1Nag
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Criteria For Success
• Successfully fly a Kinect around inside using RC
• Navigate inside autonomously over a short distance
• Produce a point-cloud map from Kinect imagery
• Final Question: Is our product usable?
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Questions?