Project #4: Experimental Testing of Allocation of Multiple UAVs Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati Devon Riddle, Aerospace Engineering, Junior University of Cincinnati ASSISTED BY: Chelsea Sabo, Graduate Research Assistant Dr. Kelly Cohen, Faculty Mentor
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Project #4: Experimental Testing of Allocation of Multiple UAVs Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati Devon Riddle, Aerospace.
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Project #4: Experimental Testing of Allocation of Multiple UAVs
Tim Arnett, Aerospace Engineering, Junior, University of Cincinnati
Devon Riddle, Aerospace Engineering, Junior University of Cincinnati
ASSISTED BY:
Chelsea Sabo, Graduate Research Assistant
Dr. Kelly Cohen, Faculty Mentor
Motivation & Operational Goals of Experimental Testing
• Search and Rescue• Weather Observation• Forest Fire Monitoring
• Traffic Surveillance• Border Patrol• Military
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Project Goals
• Learn to interface with hardware for controller development
• Understand the benefits and disadvantages of using different routing algorithms for UAVs
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Objectives• Objective 1: Interface with cooperative control
development hardware– Interface and run algorithms on AR Drones– Interface and run algorithms on AMASE
• Objective 2: Validate task allocation algorithm both in simulation and experimentally
• Objective 3: Test and compare cooperative control strategies for UAVs
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Experimental Setup
• AR Drone• OptiTrack System• Software Interface• Waypoint Following Algorithm
– PID Control– Fuzzy Logic Control– Potential-based Control
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Experimental Setup
• AR Drone– Commercially available quadrotor– Can be controlled by a device using wireless
network adapter
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Experimental Setup
• Optitrack System– Cameras provide real time position data– Data can be imported into MatLab
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Experimental Setup
• Software Interface– PC client with wireless capability– Wireless router to connect to multiple drones
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Experimental Setup
• Waypoint Following Algorithm– PID Control– Fuzzy Logic Control– Potential-based Control
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Communication Pathway10
Command Value Conversion
AR Drone requires commands in text strings with values formatted as a 32-bit signed integer• Command string example