Volume 2 Issue4

WAR FIELD INTELLIGENT DEFENSE FLAYING‐VEHICLE (140153)

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Abstract : We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board. Ster eo images are processed on the FPGA by the Semi-Global Matching algorithm. Keyramebased stereo odometry is fused with IMU data compensating for time delays that are induced by the vision pipeline. The system state estimate is used for control and on-board 3D mapping. An operator can set waypoints in the map,while the quad rotor autonomously plans its path avoiding obstacles. We show experiments with the quad rotor flying from inside a buildi ng to the outside and vice versa,traversing a window and a door respectively.

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Mr. Amit L Naikwade , Prof.S.C.Joshi , Prof. M. S. Biradar. , "WAR FIELD INTELLIGENT DEFENSE FLAYING‐VEHICLE", IJIERT - International Journal of Innovations in Engineering Research and Technology, Volume 2 Issue4, ISSN : 2394-3696, Page No.