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projects:autonomous_drones [2016/08/31 04:51] dolf [Project Milestones] |
projects:autonomous_drones [2016/09/02 02:26] (current) dolf |
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| ===== Scope ===== | ===== Scope ===== | ||
| - | This project will be purely an R&D/prototyping project. The goal is to investigate whether it is possible to develop a UAV system with a limited budget and technical resources, and by using as many existing open-source components as possible, that is able to operate without human intervention or purely remote (km's away) human intervention. There are many aspects and requirements to this project that are all ambitious. Some of the aspects of the project might have the outcome that more work is needed, or the required technology doesn't exist yet or is still cost-prohibitive at this time. A step-by-step approach will therefore be taken where the project is divided in milestones that will be taken on one-by-one. Between each milestone, the progress, hurdles and opportunities will be reviewed. All components and software that need to be developed within this project will be made available under an open-source license, and will be published online, available to the general public. | + | This project will be purely an R&D/prototyping project. The goal is to investigate whether it is possible to develop a UAV system with a limited budget and technical resources, that is able to operate without human intervention or purely remote human intervention from several kilometers away. This is only possible when using as many existing open-source software and hardware as possible. There are many aspects and requirements to this project that are all ambitious. Some of the aspects of the project might have the outcome that more work is needed, or the required technology doesn't exist yet or is still cost-prohibitive at this time. A step-by-step approach will therefore be taken where the project is divided into three phases that will be taken on one-by-one. Between each phase, the progress, hurdles and opportunities will be reviewed. |
| - | The initial project will focus on milestones 1-6, which will encompass building a drone that is able to fly without direct human control between two GPS coordinates, preset on the drone before take-off, while taking pictures or video along the way. An effort will be made to make the flight time and distance as long as possible, and make the recovery of the drone possible in case of problems. | + | This project proposal only covers phase 1, which will encompass building a drone that is able to fly without direct human control between two GPS coordinates, preset on the drone before take-off, while taking pictures or video along the way. An effort will be made to make the flight time and distance as long as possible, and make the recovery of the drone possible in case of problems. |
| + | ==== Ownership ==== | ||
| + | All components and software that needs to be developed within this project will be made available under an open-source license, and will be published online, available to the general public. This will enable the continued development of the platform by Foundation University and other inside and outside the Philippines. At least three test sessions will be held in Balinsasayao Twin Lakes Natural Park and all data gathered there will be shared with the PAMB and other interested parties. | ||
| + | The drone and all materials bought and developed during this project will remain the property of Foundation University. | ||
| ===== Design and requirements ===== | ===== Design and requirements ===== | ||
| The final goal of this project is to have a UAV that can operate without human intervention in monitoring deforestation in a relatively large area. To accomplish this, base stations are necessary where the drone can land, charge, receive commands, and shelter from bad weather. When commanded by a central management application, the drone will take off and independently fly to another charging station, while taking pictures. The charging stations need to be able to communicate between eachother and the drone to receive and send commands, which would be possible using a wireless mesh. A central controlling computer needs to be able to send commands to the drone and charging stations to plan the route of the drone, taking weather conditions, flight time and monitoring progress into account. | The final goal of this project is to have a UAV that can operate without human intervention in monitoring deforestation in a relatively large area. To accomplish this, base stations are necessary where the drone can land, charge, receive commands, and shelter from bad weather. When commanded by a central management application, the drone will take off and independently fly to another charging station, while taking pictures. The charging stations need to be able to communicate between eachother and the drone to receive and send commands, which would be possible using a wireless mesh. A central controlling computer needs to be able to send commands to the drone and charging stations to plan the route of the drone, taking weather conditions, flight time and monitoring progress into account. | ||
| {{ :projects:autonomous_drone_design.png?300|}} | {{ :projects:autonomous_drone_design.png?300|}} | ||
| + | |||
| + | ==== Risk assessment ==== | ||
| + | We can run various risks with the project that need to be addressed. The following are the most important risks and their mitigation. | ||
| + | ^ Risk ^Mitigation ^ | ||
| + | | Technical complexity of the project | Split the program into several phases and handle them one by one | | ||
| + | | | Use as much existing open-source software and hardware | | ||
| + | | Damage due to crash landing in the trees | Budget available for spare parts | | ||
| + | | | 3D printer available to create replacement parts | | ||
| + | | | Fly low over trees | | ||
| + | | | Test in low-risk area | | ||
| + | | Drone lost due to crash | Beacon and antennas for locating the drone | | ||
| + | | Water damage due to crash landing over water | Only fly over land | | ||
| + | |||
| ==== Existing technology and software ==== | ==== Existing technology and software ==== | ||
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| === The UAV === | === The UAV === | ||
| - | * Be able to fly between base stations of a fixed, known location, in an area without obstructions above a minimum altitude | + | * Be able to fly over land only between base stations of a fixed, known location, in an area without obstructions above a minimum altitude |
| * Land at the base stations accurately enough to allow wireless charging | * Land at the base stations accurately enough to allow wireless charging | ||
| * Record photo or video data along the way | * Record photo or video data along the way | ||
| Line 64: | Line 80: | ||
| There is an irlock module available for precision landing. It is an IR sensor that centers the drone over a location. It is compatible with the dronecode/ardupilot suite of software. See http://ardupilot.org/copter/docs/precision-landing-with-irlock.html | There is an irlock module available for precision landing. It is an IR sensor that centers the drone over a location. It is compatible with the dronecode/ardupilot suite of software. See http://ardupilot.org/copter/docs/precision-landing-with-irlock.html | ||
| - | ===== Project Deliverables ===== | + | ===== Deliverables ===== |
| - | ^ Milestone ^ Phase ^ Title ^ Due date ^ | + | ^ Deliverable ^ Phase ^ Title ^ Due date ^ |
| | 1. | 1 | Finalize current proposal | Sep 2016 | | | 1. | 1 | Finalize current proposal | Sep 2016 | | ||
| | 2. | 1 | Get funding commitments | Okt 2016 | | | 2. | 1 | Get funding commitments | Okt 2016 | | ||
| Line 81: | Line 97: | ||
| | 13. | 3 | Central management application can plan drone flight for multiple drones | | | | 13. | 3 | Central management application can plan drone flight for multiple drones | | | ||
| - | ===== Work breakdown ===== | ||
| - | Milestones | ||
| - | - Finalize current proposal | ||
| - | * Finalize design requirements for first proposal | ||
| - | * Research combination of flight time, range and wireless signal strength on 2.4GHz (possibly with nrf24L+) | ||
| - | * Research accurate landing (laser, infrared, etc) | ||
| - | * Research drone controllers, IMU and GPS communication | ||
| - | * Research routing software (mission planning/operation) | ||
| - | * Research altitude navigation for landing and sensors | ||
| - | * Research flight duration | ||
| - | * Get a list of materials | ||
| - | * Finalize milestone list | ||
| - | ===== Materials ===== | + | ===== Budget ===== |
| + | ==== Materials ==== | ||
| ^ Item ^ Link ^ Qty ^ Price (USD) ^ Total ^ | ^ Item ^ Link ^ Qty ^ Price (USD) ^ Total ^ | ||
| | Drone platform | | 1 | 30 | 30 | | | Drone platform | | 1 | 30 | 30 | | ||
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| | Li(ion/po) Batteries 3500mAh | | 6 | 8 | 48 | | | Li(ion/po) Batteries 3500mAh | | 6 | 8 | 48 | | ||
| | **Total** | | | | **433** | | | **Total** | | | | **433** | | ||
| + | |||
| + | ==== Personnel costs ==== | ||
| + | ^ Role ^ FTE (monthly?) rate ^ Number of days ^ Total ^ | ||
| + | | Research assistants | | | | | ||
| + | | Researchers | | | | | ||
| + | | Project manager | | | | | ||
| + | | Consultant | | | | | ||
| + | | Academic Program manager | | | | | ||
| + | |||
| + | |||
| + | ===== Work breakdown ===== | ||
| + | Deliverables | ||
| + | - Finalize current proposal | ||
| + | * Finalize design requirements for first proposal | ||
| + | * Research combination of flight time, range and wireless signal strength on 2.4GHz (possibly with nrf24L+) | ||
| + | * Research accurate landing (laser, infrared, etc) | ||
| + | * Research drone controllers, IMU and GPS communication | ||
| + | * Research routing software (mission planning/operation) | ||
| + | * Research altitude navigation for landing and sensors | ||
| + | * Research flight duration | ||
| + | * Get a list of materials | ||
| + | * Finalize milestone list | ||
| + | |||
| ===== Interesting links ===== | ===== Interesting links ===== | ||
