MICRO-CART
UNMANNED
AERIAL
VEHICLE
Microprocessor–Controlled AerIal RobotIcs Team
Introduction
Approach and Considerations
Abstract
Proposed Approach
The Association for Unmanned Vehicle Systems International (AUVSI) holds an
International Aerial Robotics Competition (IARC) every July at Ft. Benning,
Georgia. Collegiate teams from around the world enter unmanned aerial
vehicles (UAVs) capable of autonomous flight into this competition where
specific mission objectives must be met. The goal of the Microprocessor-Controlled
• X-Cell #1005-1 gas helicopter as primary vehicle
• Quad-ducted fan platform as secondary vehicle
• On-board controller (PC/104) will provide sensor interfaces and
processing resources for flight control software
• GPS unit and magnetic compass will provide data for navigation
• Inertial measurement unit (IMU) will provide helicopter dynamics
• Sonar arrays will provide data for object detection and avoidance
Problem Statement
• Design and build a primary and
secondary aerial vehicle capable of
autonomous flight
• Develop an integrated system of
sensors to control the aerial vehicles
• Enter entry level IARC, summer 2007
Operating Environment
• Outside in fair weather conditions
• Maneuver within a 430-acre area
• Varied topography and a few manmade obstacles
Intended Users and Uses
• Micro-CART team members will use
the vehicle to compete in the IARC
• Future uses in aerial surveillance, law
enforcement reconnaissance
Control Input
Human Pilot
Assumptions
Radio
Receiver
(Controls)
Manual
Override
• Continued support from Iowa State
University and Lockheed Martin
• Sensor System Will Provide All
Necessary Flight Software Inputs
Sensors
Processing Unit
PC-104
Power Supply
(UPS) Board
Servos
• Robust autonomous flight system
modifiable for various missions
• Documentation covering all aspects
of research and accomplished tasks
Global
Positioning
System (GPS)
RS-232
PC-104 ISA/
PCI Bus
PC-104 Serial
Port Board
Gasoline
Engine
Technologies Considered
Expected End Product
RS-232
Battery
Servo
Interface
Control Output
• Current helicopter airframe limitations
(lift, weight, speed, fuel)
• Power considerations for on-board
hardware
Magnetic
Compass
RS-232
Emergency
Kill Switch
Limitations
RS-232
• Software controlled basic stability
• Self-navigation to GPS waypoints
PC-104 ISA/
PCI Bus
PC-104
Processor
Board
Sensor
Data
RS-232 Line Driver
Sonar Assembly
developed for later stages in the competition. This will showcase the role of
Iowa State in the field of unmanned aerial robotics and provide valuable design
experience to Micro-CART team members.
PC-104 Stack
Aerial Robotics Team (Micro-CART) is to enter a UAV into the entry level of IARC by
developing a fully-autonomous helicopter.
A secondary vehicle is also being
PIC Microcontroller
Sonar Board
Inertial
Measuring
Unit (IMU)
RS-232
RS-232
Communications
Control
Commands
RF Modem
Flight Control
Software
Testing Considerations
• Individual hardware unit testing (GPS, IMU, Sonar)
• Integrated hardware unit test with flight-control
• Hover and translational flight tests
• Tethered flight testing with test stand
Estimated Resources
Estimated Cost for Fall 2006
(total expenses $2,100)
$50 $30 $5
$270
$200
Estimated Personnel Hours/Category
(2255 Total Hours)
645
$35
230
$60
$400
$50
639
$1,000
Primary Vehicle
612
Secondary Vehicle
Battery
Carbon Fiber
Microcontroller
Propeller
Project Requirements
Design Objectives
• Develop an aerial vehicle to compete in entry level IARC
• Develop a secondary vehicle for higher level IARC
GPS Antenna
IMU
Ultrasonic Sonar
Sonar
RF Tranceiver
Rotational Motor
Documentation
Meetings
Administrative
129
Research
Development
Project Schedule
Functional Requirements
• Hover via autonomous flight-control
• Self-navigation to global positioning
system (GPS) waypoints
• Communication between both vehicles
Design Constraints
• Size and weight considerations
• Cost minimization
• Low power consumption
Closing Summary
The Micro-CART project teaches students how to familiarize themselves with a
project that they were not part of from conception to completion. Students must
quickly become familiar with Micro-CART at its current state and determine how
they can actively contribute to the team. This experience is useful as many
engineers may not experience projects in the workplace that they design,
implement, test, and maintain.
Measurable Milestones
• Autonomous flight-control software testing
• Sensor implementation and testing
• Communications and ground station development
• Test flight(s): hover, translational test flights
Team Leaders
Timothy Gruwell (CprE)
Erica Moyer (EE)
Software Subteam
Andrew Larson (CprE/EE)(Leader)
Brian Baumhover (CprE)
Kito Berg –Taylor (AeroE)
ONGO - 03
Bai Shen (CprE)
http://seniord.ece.iastate.edu/ongo03
Hardware Subteam
Erica Moyer (EE)(Leader)
Bill Hughes (EE)
Hassan Javed (EE)
Ground Station Subteam
Josh Robinson (CprE)(Leader)
Gustav Brandstrom (ME)
Pankaj Makhija (EE)
Secondary Vehicle Subteam
Brett Pfeffer (ME)(Co-Leader)
Jeffrey Pries (ME)(Co-Leader)
Byung O Kang (EE)
Patrick Turner (CprE)
Cristina Olivas (EE)(Communication Coordinator)
Advisors
Dr. John Lamont (EE/CprE)
Prof. Ralph Patterson, III (EE/CprE) Scott Morgan (Lockheed Martin)
Client
Funding Provided By