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Project:The SWARM UAV network: Difference between revisions
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== Basic Plan == | == Basic Plan == | ||
=== Stage 1 === | == Outline Plan == | ||
===Stage 1 GroundSwarmer=== | |||
Currently six identical robot vehicles proposed. | |||
===Form factor=== | |||
*Autonomous ground vehicle | |||
*Tricycle platform (1 castor 2 drive wheels ) | |||
*Skid-steering | |||
===Mission profile(s)=== | |||
*Move between pre-defined points | |||
*Explore and map environment (as a swarm) | |||
*Indoors, on smooth, hard floor. | |||
===Functionality=== | |||
Drones communicate with other members of the swarm: | |||
*Share mapping/environment data | |||
*Track swarm member positions | |||
*Move as one group | |||
*Share instructions (instructions only given to one drone as part of the swarm) | |||
*(Suggested) option to explore independently | |||
===Control & Intelligence=== | |||
North bridge | |||
Raspberry Pi running ROS with SLAM libraries | |||
South bridge | |||
Atmega328 (or similar) with an arduino bootloader | |||
Goduino configuration proposed, as it does motor control as well: | |||
[http://www.instructables.com/id/GOduino-The-Arduino-Uno-Motor-Driver-clone/ | |||
] | |||
===Position Orientation=== | |||
Data fusion between a shared swarm-generated map, live environment sensing, via SLAM library. | |||
Potentially some individual identifier exchange between drones (e.g. knowing that the drone on the starboard bow is drone 4 of 6), and of course, receiving instructions. | |||
===Instrumentation=== | |||
* Odometers for each wheel | |||
* Infra red sensors | |||
* (suggested) Electronic compass | |||
* (suggested) Ultrasonic distance sensors | |||
* (long shot suggestion) Inertial navigation | |||
===Communications=== | |||
* NRF24 | |||
* Consider using infra-red between drones for comms as well as sensing | |||
===Actuators=== | |||
* 2 x 6V DC geared electric motors | |||
* (suggest) additional servo to enable 360º sensor scan (improves mapping by locating maximum signal - could be done by swivelling drone around) | |||
===Energy Source=== | |||
Consumer NiMh rechargeable cells for value. LiPo if money to burn. | |||
********** | |||
=== Stage 2 === | |||
Build and design a main base station UAV. Code named Queens. | Build and design a main base station UAV. Code named Queens. | ||
