TAKE HOME EXAM
DESIGNING AN INTELLIGENT CONTROLLER FOR AN AUTONOMOUS
HELICOPTER
GOAL:
To develop a vision-guided robot helicopter which can autonomously carry
out the following goal mission in any weather conditions and using only
on-board intelligence and computing power.
Goal Mission:
-
Automatically start operation and takeoff.
-
Fly to a designated area on a prescribed path while avoiding obstacles.
-
Search and locate object of interest in the designated area.
-
Visually lock on to and track or, if necessary, pursue the objects.
-
Send back images to a ground station while tracking the objects.
-
Safely return home and land.
This goal mission capability encapsulates a number of crucial technologies,
which are applicable to search and rescue, surveillance, law enforcement,
inspection, mapping, and aerial cinematography
Basic capabilities required include:
-
Vision-based stability and control
-
Autonomous takeoff, trajectory following and landing
-
Aerial mapping
-
Object recognition and manipulation
RESOURCES:
Frame:
| Fuselage Length |
Body Length |
Body Width |
Body Height |
Main Rotor Diameter |
| 3,580mm |
2,655mm |
700mm |
1,080mm |
3,070mm |
| Tail Rotor Diameter |
Body Weight |
Take off Weight |
Tank Size |
Capacity |
| 520mm |
44kg |
67kg |
4-liter |
98cc |
| Output |
Fuel |
Load Capacity |
Cruising Range |
Maximum Height |
| 12ps |
Mixed Petrol |
20kg |
30minutes |
100m |
| |
|
|
Controllable Range |
Power Plant |
| |
|
|
150m |
2cycle Engine |
Computational power:
The computational power will be about the same as a desktop computer.
Sensors:
You can assume that the sensors on board are:
-
differential GPS
-
Six-DOF inertial measurement unit
-
Downward-looking video camera
-
Compass (2-axis magnetometer)
-
Ultrasonic altimeter sonar
Things to Do:
-
First do a systems analysis
-
Find high level and low level control requirements
-
Propose controllers for the tasks you have specified, give the rationale
for each, stating possible options
Notes
-
Use the Paper Format
-
Due Final Exam Date
May 26, 1998