7
edits
Project:The SWARM UAV network: Difference between revisions
From London Hackspace Wiki
→Outline Plan
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Six identical robot vehicles proposed. | Six identical robot vehicles proposed. | ||
===Form factor=== | ====Form factor==== | ||
*Autonomous ground vehicle | *Autonomous ground vehicle | ||
*Tricycle platform (1 castor 2 drive wheels ) | *Tricycle platform (1 castor 2 drive wheels ) | ||
*Skid-steering | *Skid-steering | ||
===Mission profile(s)=== | ====Mission profile(s)==== | ||
*Move between pre-defined points | *Move between pre-defined points | ||
*Explore and map environment (as a swarm) | *Explore and map environment (as a swarm) | ||
*Indoors, on smooth, hard floor. | *Indoors, on smooth, hard floor. | ||
===Functionality=== | ====Functionality==== | ||
Drones communicate with other members of the swarm: | Drones communicate with other members of the swarm: | ||
*Share mapping/environment data | *Share mapping/environment data | ||
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*Share instructions (instructions only given to one drone as part of the swarm) | *Share instructions (instructions only given to one drone as part of the swarm) | ||
*(Suggested) option to explore independently | *(Suggested) option to explore independently | ||
===Control & Intelligence=== | ====Control & Intelligence==== | ||
North bridge | North bridge | ||
Raspberry Pi running ROS with SLAM libraries | Raspberry Pi running ROS with SLAM libraries | ||
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[http://www.instructables.com/id/GOduino-The-Arduino-Uno-Motor-Driver-clone/ | [http://www.instructables.com/id/GOduino-The-Arduino-Uno-Motor-Driver-clone/ | ||
] | ] | ||
===Position Orientation=== | ====Position Orientation==== | ||
Data fusion between a shared swarm-generated map, live environment sensing, via SLAM library. | 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. | 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=== | ====Instrumentation==== | ||
* Odometers for each wheel | * Odometers for each wheel | ||
* Infra red sensors | * Infra red sensors | ||
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* (suggested) Ultrasonic distance sensors | * (suggested) Ultrasonic distance sensors | ||
* (long shot suggestion) Inertial navigation | * (long shot suggestion) Inertial navigation | ||
===Communications=== | ====Communications==== | ||
* NRF24 | * NRF24 | ||
* Consider using infra-red between drones for comms as well as sensing | * Consider using infra-red between drones for comms as well as sensing | ||
===Actuators=== | ====Actuators==== | ||
* 2 x 6V DC geared electric motors | * 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) | * (suggest) additional servo to enable 360º sensor scan (improves mapping by locating maximum signal - could be done by swivelling drone around) | ||
===Energy Source=== | ====Energy Source==== | ||
Consumer NiMh rechargeable cells for value. LiPo if money to burn. | Consumer NiMh rechargeable cells for value. LiPo if money to burn. | ||
