Development of Mission Based Micro Air vehicles and Unmanned Ground Vehicle. Team Reg # 1015 Team Members: National Aerospace Laboratories M S Ramaiah.

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.