slide1
Download
Skip this Video
Download Presentation
IST 2.6.1 Advanced Robotics µdrones µDRone autOnomous Navigation for Environment Sensing JM ALEXANDRE CEA List

Loading in 2 Seconds...

play fullscreen
1 / 6

IST 2.6.1 Advanced Robotics drones DRone autOnomous Navigation for Environment Sensing JM ALEXANDRE CEA List - PowerPoint PPT Presentation


  • 198 Views
  • Uploaded on

IST 2.6.1 Advanced Robotics µdrones µDRone autOnomous Navigation for Environment Sensing JM ALEXANDRE CEA List. Objective of the project : AUTONOMOUS MICRO DRONE.

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'IST 2.6.1 Advanced Robotics drones DRone autOnomous Navigation for Environment Sensing JM ALEXANDRE CEA List' - karlyn


An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
slide1

IST 2.6.1 Advanced Robotics

µdrones

µDRone autOnomous Navigation for Environment Sensing

JM ALEXANDRE

CEA List

objective of the project autonomous micro drone
Objective of the project : AUTONOMOUS MICRO DRONE

Development small size flying robot able to carry outdoor missions (urban environment) autonomously without human command for civil security applications

- Autonomous localisation

- Autonomous navigation

- Robustness to unexpected events

  • Sensors for autonomy
  • Vision
  • GPS
  • Inertial
  • US/IR
  • Sensors for security
  • Vision
  • Chemical
  • USABLE IN HUMAN ENVIRONMENT
  • - Small size and weight
  • Careenage
drones presentation
CONSORTIUM

CEA List – Technology research institute (FR)

Thales Security System – Industry (Fr)

University of Tünbingen – Research institute (D)

AirRobot – SME (D)

Lisippos – SME (GR)

µDrones presentation
  • Main developments
  • - Algorithms for autonomous localisation and navigation
  • Intuitive MMI for mission preparation and control
  • Flying robot
  • Evaluation in urban environment
mcs mission control system
Man Machine Interface (mission preparation)

Screen with (2D or 3D view of the urban environment (GPS navigation map), to define the trajectory that the drone will follow autonomously.

Definition of the trajectory by defining way point

Automatic planning of the trajectory

Man Machine Interface (mission monitoring)

Display a feedback of :

Estimated position of the drone

Data coming from the mission sensors ( video, chemical …)

Stop the drone on an interest point and to servo the drone on this point or command with a joystick

MCS – Mission Control System
perception and command for flight autonomy
Attitude stabilization

- attitude stabilization of the UAV using inertial sensor (Gyrometer and accelerometer MEMS) to counteract wind perturbation.

Localization and navigation

Performed by different sensors modalities, including GPS, vision, inertial sensors.

Redundancy increases the reliability of the system (loss of information from one of the sensors. (GPS loss, bad vision feedback or too poor video contents).

Obstacle avoidance

Strategy of obstacle avoidance based on optic flow (measurement of time to collision).

Perception and command for flight autonomy
final scenarios
Two scenarios

Crisis management scenario (    unknown  urban environment)

Search and Rescue

Car accidents

Fight against terrorism

Forest Fire Detection

Inspection and monitoring of sensitive site (known environment)

Nuclear power plant

Chemical factory

Final scenarios
ad