Ar.Drone Autonomous Control and Position Determination

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1、BachelorThesisAr.DroneAutonomousControlandPositionDeterminationJaccovanderSpek4002512MarioVoorsluys4048482DelftUniversityofTechnologyJune2012FacultyofElectricalEngineering,MathematicsandComputerScienceBachelorThesisV1.0(Wednesday27thJune,2012)ThisBachelorthesisismadeusingLATEXinCo

2、mputerModernRoman11pt.PrefaceForanotyetestablishedUnmannedAerialVehicle(UAV)competitionaprototypeUAVisneeded.ThisUAVhastobeabletorecognizeamovingvehicle.WhenthisvehicleisrecognizedtheUAVshouldbeabletokeeptrackingthevehicle.Thisprototypewillbeusedtoshowthatthechallengesofthecompeti

3、tionarefeasible.Itwillalsobeusedtomakepromotionalmaterialslikevideos.Twoteamswillbeworkingonthisprototype;ateamoftenstudentsofAerospaceEngineeringandateamofsixstudentsofElectricalEngineering.TheAerospaceEngineeringstudentswilldesignaxedwingUAV.We,asElectricalEngineeringstudents,w

4、illdeveloptheelectricalsystem.Adesignbriefwasdraftedtostatetherequirementswewanttomeet(seeAppendixA).Thedevelopmentoftheelectricalsystemissplitupinthreesub-groupsoftwostudents.Oneteamisresponsibleforthedevelopmentofadataconnectiontoagroundstation.Theyalsovisualizetheinformationtha

5、tisexchangedbetweentheUAVandthegroundstation.Thesecondteamdevelopsanintelligentcamerasystemthatrecognizesandtracksthevehicle.We,theauthorsofthisthesis,willdevelopasensorsystemandenableourtestUAVto yautonomously.AfunctionalblockdiagramofthewholesystemcanbefoundinAppendixBwheretheel

6、ementsofoursubsystemarehighlighted.Thethreesubsystemswillformonesystemthat,wethink,willdeliveraproofofconceptforourclients:T.DurieuxBScandJ.MelisBSc.JaccovanderSpek&MarioVoorsluysDelft,June2012iAcknowledgementsWewouldliketothankthefollowingpeopleandorganisations:Oursupervisordr.ir

7、.C.J.M.Verhoevenforhiscontinuedenthusiasmand(nancial)supportT.DurieuxB.Sc.andJ.MelisB.Sc.fortheirsupportandtheassignmentTheMicroelectronicsDepartmentfortheprovisionoftwoquadrocoptersandbudgetTheRaspberryPifoundationfortheirsupportwithaRaspberryPi.Ourteammembersforthecollaboration

8、andgreattimetogetheriiSummaryFora