Project:The SWARM UAV network

Introduction

This groups aim is to set standards in communication and automation of a network of UAV. Allowing a set of UAV's to accomplish set tasks or goals while removing all requirement for maintenance. The SWARM will look after itself, maintain itsef and keep itself flying continuously.

The project will be conducted in two phases:

• Phase 1: develop swarm comms and functionality with ground-based vehicle swarm
• Phase 2: develop shared power logistics with airborne drones

Basically the basis for skynet to take over the world.

Contacts

If you want to get involved with the project. Please feel free to email the maintainers of the project.

Current list of maintainers.

Email john - Funder/Founder and Programmer 1

Outline Plan

Stage 1 GroundSwarmer

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 slave UAV. Code named Worker Drone.

Queens

Queens are base stations that control the activity of Drones.

Behaviour/Role

1. Queens control a set number of drones of any type.
2. Queens supply power/fuel and general location of other queens
3. Queens act as a control tower, dictacting which drones charge and which can't.
4. Queens take basic orders from human input. The queens themselves work out the best way to achieve goals/orders set.

Hardware

1. 1 x Solar Panels - (collect electricity to power Queen navigation)
2. 2 x 12v Rechargable car battery - (Store electricity to power motors and send pwoer to drones )
3. 2 x Inductive charging - Useing Resonant inductive coupling. (allow drones to be charged)
4. 2 x DC motors (control navigation)
5. 1 x GPS - (navigation)
6. 6 x IR LED - (Proximity detection on x/y/z axis and used due to low power requirment)
7. Cylinder weather ballon (boyancy)
8. 2 x servo motors (rudder control on the x and z axis)
9. 1 x Rasbri pi or adino. Not sure yet (control)
10. 1 x inverters and power controls (between battery and rasbri pi/solar pannels )
11. 1 x light wieght frame

Worker Drone

Worker Drones are the first slaves which the Queen Can control.

This will be a template of all other drones that are slaves to the Queen.

Behaviour/Role

1. Capable of recieveing detailed instructions from Queen.
2. Workers must beable to work with one another with miniumal comunication to achieve goals assigned to them by Queen.
3. Manage own flight time and request refuel from queen to stay in flight.
4. Carry and object from point a to point b. (eithier by itself or working togeather)

Hardware

1. 4 x servo motors (position control)
2. 1 x Rasberry pi (controller)
3. 2 x Camra (object recognition)
4. 1 x frame
5. 1 x Battery and power controls

Future plans

It should be easier for people to create UAV's with specialist tasks such as defend the queen, repair each other once the basic behaviours have been programed and priorities have been completed.

Comunication/repo

Have setup a private confluence page, jira and git.

Git will be open, the clear plans will be published on here. The private confluence and jira systems will remain private and simply used for managing the time or co ordinate the project. Any idea's or details will be open and shared on related pages to this project.