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GRiD - Autonomous Indoor Drone - Comets - VIT Chennai

The autonomous indoor drone developed by Team Comets can lift payloads up to 5kg and navigate indoor environments without GPS. It can maneuver through obstacles, deliver packages autonomously to specified locations, and pass through frames without damage. Additional features include real-time position tracking, return-to-launch, and a 360-degree camera. The drone uses a Pixhawk flight controller, Intel RealSense camera for navigation without GPS, and C++/Python programming. The team will assemble the drone, install software, configure the autopilot, load firmware, calibrate sensors, and plan missions to develop a functioning prototype.

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Nikita Shakya
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131 views12 pages

GRiD - Autonomous Indoor Drone - Comets - VIT Chennai

The autonomous indoor drone developed by Team Comets can lift payloads up to 5kg and navigate indoor environments without GPS. It can maneuver through obstacles, deliver packages autonomously to specified locations, and pass through frames without damage. Additional features include real-time position tracking, return-to-launch, and a 360-degree camera. The drone uses a Pixhawk flight controller, Intel RealSense camera for navigation without GPS, and C++/Python programming. The team will assemble the drone, install software, configure the autopilot, load firmware, calibrate sensors, and plan missions to develop a functioning prototype.

Uploaded by

Nikita Shakya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Autonomous Indoor Drone

Team Name : Comets

Institute Name: Vellore Institute of Technology,Chennai


Team members details

Team Name
Comets
Institute Name
Vellore Institute of Technology, Chennai
Team Members >
1 (Leader) 2 3 4 5
Name Dhivya Shrilaa M Vishnu
Nikita Shakya TJ Ashish Kumar Prasad Elsie Femina
Batch 2018-2022 2018-2022
2018-2022 2019-2023 2019-2023
Area of expertise Electrical Electrical Programming
Electrical Mechanical
Functionalities of the Robot

❏ What all can the robot do?

The Quadcopter is capable of producing enough thrust to lift itself and a maximum payload of 5kgs, autonomous flight, On
screen display of the FPV, navigate in an indoor environment without the use of GPS, maneuver through obstacles and have a
hover time of 12mins(approx).

❏ What all activities can it perform?

 Autonomously maneuver through obstacles like pillars, walls, ceiling extensions, people, etc. and can deliver the package in the
intended location.

 It can detect and pass through the frame of the specified dimension without inflicting damage to the frame or any other obstacles.

 Navigate in the shortest way possible to the end location and also pass through checkpoints.
❏ Are there any things that the robot can do above and beyond the
requirement?

• Hooking mechanism can automatically deliver the package when


it reaches its desired location.
• Show the real-time position of the drone in the system and the
path taken.
• Supports RTL feature.
• It can operate in dynamic environment.

❏ Are there any out of the box functionalities?

• ADSB– automatic dependant survilance broadcast.


• 360 degree vision for camera.
• Automatic frame detection using OpenCV.
Robot Specifications
Technical & physical specifications:

Frame: A 500mm x-type Carbon fiber frame with integrated PDB ; dimensions: 70.7x70.7x35 (cm);
Propeller: XOAR DJI Inspire 1 Carbon Fiber Folding Propellers 1345; 5mm bore diameter
Motor: Emax GT2826/05 860KV ; shaft diameter 5mm
Battery: 2 x ORANGE 8000 mAh 4 Cell 35C (14.8V) LITHIUM POLYMER BATTERY PACK (LiPO) connected in parallel.
ESC: HobbyKing 80A (2~6S) ESC 4A SBEC

Flight controller: Pixhawk PX4 Autopilot PIX 2.4.8 32 Bit Flight Controller

Non-GPS Navigation: Intel RealSense Tracking Camera T265, RPI4, 16GB SD card and PiConnectLite

Servo-motor controlled hook mechanism: For automatic-delivery of packages.


Camera: OV5647 5MP 1080P IR-Cut Camera for Raspberry Pi 3/4 with Automatic Day Night Mode
ADSB Receiver
Telemetry
Power module
Robot/Solution Limitations
What can the robot not do ?
No autonomous picking of package
Payload limit-5Kg
Navigation ability is decreased in low light conditions

Are there any limitations compared to the requirements?


No, there are no limitations.
Robot Visualization -3D Diagram/Sketch

Robot Visualization -3D Diagram/ Sketch


Architecture
Tech/ Hardware architecture
Brief on Programming Module

What programming language will be used?

C++ in Ardupilot and Python in RPi3.

What all software modules will be built?


\
Ardupilot firmware

Raspberry pi OS

Mission Planner

OpenCV software
Execution Plan

High level action items in terms of what will be the steps from the drawing board to the actual prototype.
Quadcopter assembly:Assemble the components on the frame and make the required connections.
Install Ground Station Software: mission planner
Autopilot System Assembly:
1.Autopilot wiring- Ardupilot input and output (rc input, motor/servo connections and sensor connection)
2.wiring and powering pixhawk with all components and with firmware
3. Checking motor numbering with mission planner motor test
4. Connection with power distribution board
Loading firmware to boards without existing Ardupilot firmware:
•Installing the required driver and flashing tool
•Downloading the appropriate ArduPilot firmware
•Loading ArduPilot to the board
Connect Mission Planner to AutoPilotConfiguration:
•Basic System Overview
•Frame Type Configuration
•Motor Numbering and Direction
•Radio Control Calibration
•Accelerometer Calibration
•Compass Calibration
•RC Transmitter Mode Setup
•ESC Calibration
•Configure Motor Range (optional)
•Failsafe Mechanisms

Configure BendyRule algorithms in the Ardupilot

Mission planning:
Configure the mission events in the mission planner

OpenCV configuration: Configure the required algorithms for frame detection and pass through.

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