Quadrotor Landing and Charging

Justin Yim

Uses

Aerial sensor platform

Monitoring

Surveillance

Exploration

Image from: http://spectrum.ieee.org/automaton/robotics/military-robots/aeryon-scout-quadrotor-spies-on-bad-guys-from-above

Quadrotor

High power LEDs (red, blue)

Crash guards

Electrical contacts

Platform

Camera

Wire pad

Electrical contacts

Vision: Image processing

Parallelogram of known size

LEDs located by brightness and color

Quadrotor identified by parallelogram geometry

Raw image

Pixel colors and luminance

Selected LEDs

Vision: Positioning

Quadrotor location is calculated from the positions of the LEDs in the frame

Pinhole Camera model

Kalman filter

Matlab 3D plot of a quadrotor flight

Vision: Control

Onboard attitude control.

Separate X, Y, and Z PID controllers

Demo!

• Linux

• Matlab!

• C and C++

• Mechanical design

• Solidworks

• Laser cutting

• Soldering

• Circuit analysis