Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone
description
Transcript of Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone
![Page 1: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/1.jpg)
Wireless Gesture-Based Control System for a Remotely
Operated Vehicle DroneAaron RobertsEvan Wayton
Eric AllarMichael Cremona
April 27th 2011
Faculty Advisors: Dr. Molyet and Dr. KimCourse Instructor: Dr. Serpen
![Page 2: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/2.jpg)
Background
What is the purpose of our project?• Wireless control of a remote vehicle based on user inputs.
– Design a controller which can be utilized with one hand.• Hand gestures determine speed and direction of vehicle movements.
– Utilize pitch and roll of hand to control speed and direction.• Proximity sensor detects, and causes reaction to eminent collisions.• Wireless video transmission permits use in non line of sight conditions.• Comply with NEMA 250 standard for electronic enclosures.
![Page 3: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/3.jpg)
Background
What is the importance of our project?• Intuitive user control interface• Eliminating the need to hold a controller
What are the applications of our project?• Military use for remote inspection of terrain• Exploration of hazardous environments
http://chrisnoble.wordpress.com/2007/06/page/3/
![Page 4: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/4.jpg)
Discussion
• Main Project Objectives:– System Design– Creation of Sub-systems– Critical Component Testing– Sub-system Testing & Integration
![Page 5: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/5.jpg)
System Design
• Features of the drone:– Intuitive gesture control– Wireless communication– Sensor override – Audio visual feedback
![Page 6: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/6.jpg)
Completed Glove and Drone
![Page 7: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/7.jpg)
Creation of Sub-systems:
1. Gesture control 2. Motor control3. Wireless communication4. Sensor override5. Glove power6. Vehicle power7. Video communication
![Page 8: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/8.jpg)
Full System Schematic
![Page 9: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/9.jpg)
System Architecture
Gesture Controller
Sub-System
Wireless Control Communication
Sub-System
Drone Vehicle
Sub-System
User Power SupplySub-
System
Vehicle Power Supply
Sub-SystemSensor
OverrideSub-System
Wireless VideoCommunication
Sub-System
![Page 10: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/10.jpg)
Subsystems • Gesture Control Sub-system
– Purpose• To provide the gesture commands that will control
the drone.– Procedure
• Loaded program, observed if expected values were shown.
– Issues overcome• Overflowing ATmega328 serial buffer• Adjusting tolerances
![Page 11: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/11.jpg)
Glove Behavioral Flow Diagram
![Page 12: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/12.jpg)
Subsystems• Motor Control Sub-system
– Purpose• To interpret commands sent to the drone and
provide the appropriate movement.– Procedure
• Ran program giving the micro-processor written commands.
– Issues overcome• Skipping neutral and straight states of acceleration
and turning• Length of the read in buffer
![Page 13: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/13.jpg)
Vehicle Behavioral Flow Diagram
![Page 14: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/14.jpg)
Subsystems
• Wireless Communication Sub-System– Purpose
• Reliable data transfer of user commands – Procedure
• Installed ZigBees and confirmed wireless communication was identical to hard-wired communication.
![Page 15: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/15.jpg)
Subsystems
• Sensor Override Sub-System– Purpose
• Collision Avoidance– Procedure
• Added sensor code, tested functionality with overall design.
– Issues overcome• Sensor detecting the ground as a possible collision
![Page 16: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/16.jpg)
Subsystems
• Power and Video Sub-Systems– Purpose
• Provide Battery Power to Essential Components• Provide Wireless Video Transfer
– Procedure• Powered circuits without using lab power supplies.• Tested video communication against ZigBee
communication.
![Page 17: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/17.jpg)
Power & Throughput Analysis
RadioShack Enercell rated at 2.13 AH at a 100 mA
Glove Battery Life 23 hoursDrone Battery Life 50 minutes
ATmega328 1 MIPS @ 1 MHz100 instructionsTime 6.25us
![Page 18: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/18.jpg)
Power Received as a Function of Distance in Free Space
1.00E-07
1.00E-06
1.00E-05
1.00E-04
1.00E-03
1.00E-02
1.00E-01
1.00E+00
1 10 100
Distance [ft]
Pow
er R
ecei
ved
[mW
]
Power Received
Communication Analysis
Tx DC Power
Rx DC Power
![Page 19: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/19.jpg)
NEMA 250For Electrical Enclosures
• Compliance with NEMA Standard– Involved various tests for foreign material.
• Dust/Dirt• Water• Solid Objects
![Page 20: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/20.jpg)
Video demo
![Page 21: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/21.jpg)
Conclusions
• Lessons Learned– Design– Compliance
• Future Plans/Improvements– Larger Drone– Power Supply– Feedback of Current State– Additional Sensors
![Page 22: Wireless Gesture-Based Control System for a Remotely Operated Vehicle Drone](https://reader036.fdocuments.us/reader036/viewer/2022062521/56816775550346895ddc6ced/html5/thumbnails/22.jpg)
Questions?