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P1258716704OdGhQ

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DTSI / Interactive Robotics Unit. Objective of the project : AUTONOMOUS ... CEA List Technology research institute (FR) Thales Security System Industry (Fr) ... – PowerPoint PPT presentation

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Title: P1258716704OdGhQ


1
IST 2.6.1 Advanced Robotics µdrones µDRone
autOnomous Navigation for Environment Sensing JM
ALEXANDRE CEA List
2
Objective of the project AUTONOMOUS MICRO DRONE
Development small size flying robot able to carry
outdoor missions (urban environment) autonomously
without human command for civil security
applications - Autonomous localisation -
Autonomous navigation - Robustness to unexpected
events
  • Sensors for autonomy
  • Vision
  • GPS
  • Inertial
  • US/IR
  • Sensors for security
  • Vision
  • Chemical
  • USABLE IN HUMAN ENVIRONMENT
  • - Small size and weight
  • Careenage

3
µDrones presentation
  • CONSORTIUM
  • CEA List Technology research institute (FR)
  • Thales Security System Industry (Fr)
  • University of Tünbingen Research institute (D)
  • AirRobot SME (D)
  • Lisippos SME (GR)
  • Main developments
  • - Algorithms for autonomous localisation and
    navigation
  • Intuitive MMI for mission preparation and control
  • Flying robot
  • Evaluation in urban environment

4
MCS Mission Control System
  • Man Machine Interface (mission preparation)
  • Screen with (2D or 3D view of the urban
    environment (GPS navigation map), to define the
    trajectory that the drone will follow
    autonomously.
  • Definition of the trajectory by defining way
    point
  • Automatic planning of the trajectory
  • Man Machine Interface (mission monitoring)
  • Display a feedback of
  • Estimated position of the drone
  • Data coming from the mission sensors ( video,
    chemical )
  • Stop the drone on an interest point and to servo
    the drone on this point or command with a joystick

5
Perception and command for flight autonomy
  • Attitude stabilization
  • - attitude stabilization of the UAV using
    inertial sensor (Gyrometer and accelerometer
    MEMS) to counteract wind perturbation.
  • Localization and navigation
  • Performed by different sensors modalities,
    including GPS, vision, inertial sensors.
  • Redundancy increases the reliability of the
    system (loss of information from one of the
    sensors. (GPS loss, bad vision feedback or too
    poor video contents).
  • Obstacle avoidance
  • Strategy of obstacle avoidance based on optic
    flow (measurement of time to collision).

6
Final scenarios
  • Two scenarios
  • Crisis management scenario (    unknown  urban
    environment)
  • Search and Rescue
  • Car accidents
  • Fight against terrorism
  • Forest Fire Detection
  • Inspection and monitoring of sensitive site
    (known environment)
  • Nuclear power plant
  • Chemical factory
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