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DRUSE
ABSTRACT
PROBLEM:
In the current scenario, anti-social groups around the globe are constantly posing
threat on the lives and freedom of humanity. Despite India’s constant peaceful
approaches to tackle this problem, it is still one of the main targets of these
groups. To curb this problem, India has to equip its arsenal to face any
confrontation in the near future. Evident from recent incidents, hostage situation
has been one of the main weapons of these militants to extract their malicious
demands from the government. In such critical circumstances, the soldiers are
unable to strategize the rescue mission because they have no idea about position
and equipped resources of the militants as well as the exact location of the
captured hostages.
SOLUTION:
In dire situations like mentioned above, the consequences of sending a manned
rescue operation without proper intelligence could be fatal. To tackle such a
problem, we propose the development of an unmanned all-terrain amphibious
robot which is capable of locomotion in air. The bot would consist of two parts
one of which is a quadcopter and the other is an all-terrain vehicle. The
quadcopter stealthily carries the vehicle to the required location and then drops
the bot there after which the quadcopter will rest in a secure location. Then the bot
will furtively move throughout the area and generate a map of the localised
region. The camera attached to the bot would provide the live video coverage of
the area to the soldiers. When the task of the bot is over, it would detect the
location of the quadcopter and travel to its position. The UGV would attach itself
to the quadcopter after which the complete bot will return back to the base with
proper intelligence to guide the soldiers for their mission.
QUESTIONNAIRE
As per the idea proposed, our robot essentially consists of two parts:
THE QUADCOPTER:
The primary motive of the quadcopter is to implement the locomotion in the air. The basic
concept behind the flying mechanism of a quadcopter is:
The quadcopter balances the force acting on it because of gravity, air-drag and other additional
forces by controlling the velocity of the propeller motors. The position of the desired location is
fed to the flight control software using UBLOX GPS module. The prime function of the flight
controller is to Take-off, Hover, and Land. The IMU sensor is used to detect the yaw, roll or
pitch by which the drone is getting deflected at a particular altitude. The alternate propellers of
the drone are made to rotate in clockwise and anticlockwise directions respectively (opposite
directions) so that the angular momentum of the entire drone is conserved and the drone remains
still on its position. The altitude of the drone is identified using a Barometer. If the drone is at an
altitude below or above the specified value, then it is forced to return to the given altitude by
increasing or decreasing the velocity of the propeller motors.
The flight control module is linked to the ODROID operating system using MAVLINK. The
Odroid OS is used to perform the task of detection of the exact spot where the UGV has to be
dropped. The Odroid is programmed in such a way the that it uses pose estimation and enters a
decision-making loop that allows it detect the exact spot of landing. The precision of the location
provided by the GPS differs in meters due to which we have to use the Odroid OS to detect
(using image processing) any deviation from the specified.
Once the drone has reached the required location, it has to drop the UGV there. The mechanism
which we have adopted for pick/drop function is by the use of two servo motors attached to the
bottom of the drone. When the drone reaches the spot, it hovers of the region. The Odroid is
programmed in such a way that when the drone is hovering over the spot, it instructs the servo
motor to open, and the package is dropped. When the UGV returns to the drone, the Odroid
detects the presence of the UGV and opens the servo motors, and the UGV is again attached to
the drone.
The Cyber-Physical Architecture of the drone in a block diagram is given below for a better
understanding of the processes involved in the working of the drone.
CONNECTIONS:
PIXHAWK is the flight controller of the quadcopter. Its function is to direct RPM to the
motor in response to input. Different input and output devices are connected to the
PIXHAWK.
The list is as follows:
o Safety Switch
o Telemetry
o 10S power module
o Buzzer
GPS module
The safety switch is a push button switch with a red LED present inside it. Its work is to
enable/disable the outputs to ESCs (i.e. indirectly the motors). It is switched ON/OFF by
a long press of the pushbutton for 1 second.
It is connected via a 3 pin JST to the port present in PIXHAWK as shown in the figure.
The pattern of LED gives information about the status of switch.
Single Blink: System is ready. Switch status OFF. PIXHAWK can’t be armed in this
status
Double Blink: Switch status ON. PIXHAWK can be armed.
Solid LED: Copter is armed.
TELEMETRY:
Telemetry is one of the easiest ways to setup a telemetry connection between your
APM/PIXHAWK and a ground station. It comes in set of two
One is for ground station, i.e. PC, and is connected by USB
Second is for air frame, and is connected to quad by 6 pin JST.
GPS MODULE:
GPS module consist of GPS and compass. It tracks position of the quad from
satellites data and gives directions to the quad to move autonomously. It has 2 JSTs, one
of 6 pin, to be connected to GPS port, and one of 4 pin, connected in I2C port.
THE AMPHIBIOUS VEHICLE:
After the drone has successfully landed in a secure location, the stealth and compact
unmanned amphibious bot, which can travel through the land as well as water, detaches
itself from the drone and starts the surveillance of the entire area. Care is taken that the
whole chassis, as well as the components and gadgets installed with it, is waterproof. All
the components including the microcontroller (Raspberry pi 3B), motor driver, battery,
motors, propellers, wheels, camera, etc. are installed inside the chassis. The wheels are
designed in such a way that while traveling in water, it works as side propellers. It can be
controlled by the differential drive. It can give live video feed through the camera and
GSM module. We can also control and move the robot from a web browser over the
internet. We will use “Motion” for getting a live Video feed from USB camera and
“Flask” for sending commands from webpage to Raspberry Pi using python to move the
Robot.
RASPBERRY PI:
The Raspberry Pi is a series of small single-board computers. It is the main component of
the bot. It provides a signal to the l293d motor driver circuit to drive the bot. USB camera is used
to record live video. It has a sd card slot so we can save the video on a sd card.
UBLOX GPS:
The GPS module will be connected to Raspberry Pi using the USB port.
AUTONOMOUS:
The bot uses OpenCV to process video and LSD SLAM (Large Scale Direct Monocular
Simultaneous Localization and Mapping) to generate the map. LSD-SLAM is a novel approach
to real-time monocular SLAM. It is based upon direct approach (i.e., it does not use
keypoints/features) and creates large-scale, semi-dense maps in real-time.
To use LSD-SLAM, we will install Ubuntu MATE on Raspberry Pi 3. Ubuntu MATE is a free
and open-source Linux distribution and an official derivative of Ubuntu. Then we will install
ROS(Robot Operating System) kinetic on Raspberry Pi.
We will use GMapping and move_base together to build a map and navigate autonomously in an
unknown environment, but because we can't start GMapping with a partial map, this means that
our map will always start empty. GMapping also requires continually increasing memory over
the life of the map, so it isn't well suited for long-term use. GMapping algorithm is based on
RaoBlackwellised particle filter (RBPF). As proper detection of surrounded obstacles is required
for the accuracy of the algorithm, the RPLIDAR 3600 laser scanner which provides both
distance and bearing angle measurements to the nearby objects.
GPS
Raspberry pi
USB Camera
ESP8266
REFERENCES:
https://www.raspberrypi.org/magpi/self-driving-rc-car/
http://perso.ensta-paristech.fr/~filliat/Courses/2011_projets_C10-
2/BRUNEAU_DUBRAY_MURGUET/monoSLAM_bruneau_dubray_murguet_en.html