Merry Christmas,
friends of VirtualRobotix and FOXTEAM.
Roberto Navoni
In the video, you can 'see the show that I made at the Teatro Donizetti in Bergamo. I used Fox Drone my own implementation of a customization of AR.Drone to which I added a ground station that allows the management of the aircraft through the PS3 gamepad and transmitting video on Video Wall for live performances.
In the show you see that Logan is the Magician 'conjure FoxDrone and explains it to the public.
The presentation explains how the use of drones you can create spectacular video applications for tourism promotion.
This is the promotional video of the province of Bergamo, made by : drones, helicopters and computer graphics ... come to visit Bergamo from all over the world ... come people will look at us:)
website : http://www.turismo.bergamo.it
Happy Chrismas by Virtual Robotix and FoxTeam
Roberto Navoni
This is an incredible video of FPV near doing in NY ...
this is the comment of Chris Anderson about this video :
"The problem is that Trappy, who is actually a very accomplished FPV pilot with many impressive (and usually safe) videos before this one, flew a Zephyr around Manhattan in Class B Restricted Airspace, in the landing patterns of three major airports and far beyond line-of-sight. He also filmed it and sent it to the media, where it was widely shown on national TV. This is not only in violation of FAA rules, but it's also the kind of thing that can ruin it for all of us if legislators take this example as an opportunity to crack down on our hobby."
Dear Friends,
this is my first hack to Ar.Drone. I'm enjoy with Ardrode SDK 1.5 , Build Linux Application for controll Ar.Drone.
I prefer to use it by PS3 Gamepad instead to use Iphone , the connection is very stable.
If you need more info about my hack contact me on skype virtualrobotix contact.
Regards
Roberto.
From the description: "The robot is equipped with an IMU, camera, and laser scanner with deflective mirrors. All computations are performed onboard using a 1.6GHz atom processor. The robot is able to navigate autonomously in indoor or outdoor, GPS-denied environments.
A SLAM module with vision based loop closure allows the robot to map large-scale, multi-floor environments.A sparse 3D map is generated on the robot based on sensor data, enabling high-level planning and visualization.
An RRT* based planner provides an anytime planning solution that fits the computational constraints of the robot. This planner also enables online re-planning and obstacle avoidance.
An LQR optimal controller with external force compensation enables reliable autonomous flight in highly constrained environments, such as hallways, doors, and windows. The robot is able to track the high-level plans accurately."
From I Love Robotics: "More quadrotor action from the team at UPenn (Shaojie Shen, Nathan Michael, and Vijay Kumar). A previous video of their earlier work is here.
ROS seems to be helping with the team's productivity, but I am still looking for a paper to go with these videos for more details. Once again thermodynamics and energy storage look like the biggest performance limits facing quadrotor aircraft."
"This work is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department).http://hybrid.eecs.berkeley.edu/
Researcher: Patrick Bouffard
PI: Prof. Claire Tomlin
Our lab’s Ascending Technologies [1] Pelican quadrotor, flying autonomously and avoiding obstacles.
The attached Microsoft Kinect [2] delivers a point cloud to the onboard computer via the ROS [3] kinect driver, which uses the OpenKinect/Freenect [4] project’s driver for hardware access. A sample consensus algorithm [5] fits a planar model to the points on the floor, and this planar model is fed into the controller as the sensed altitude. All processing is done on the on-board 1.6 GHz Intel Atom based computer, running Linux (Ubuntu 10.04).
A VICON [6] motion capture system is used to provide the other necessary degrees of freedom (lateral and yaw) and acts as a safety backup to the Kinect altitude–in case of a dropout in the altitude reading from the Kinect data, the VICON based reading is used instead. In this video however, the safety backup was not needed.
[1] http://www.asctec.de
[2] http://www.microsoft.com
[3] http://www.ros.org/wiki/kinect
[4] http://openkinect.org
[5] http://www.ros.org/wiki/pcl
[6] http://www.vicon.com"
(via Trossen Robotics)
Hi all, I have a new drone in the family...
This tiny drone is able to do completely automatic flights, it can perform altitude hold (based on sonar sensor) and obstacle avoiding based on IR distance sensors (you could see the "black stange eyes" on the photo). It´s your personal droid...
Look at the video (the "tennis game" part it´s funny. Thanks to Ramon for the idea!!)
There are some new features in this thrid part... This is the list:
For outdoor configuration:
- GPS library support (actually UBLOX or NMEA)
- Position hold based on GPS
For indoor configuration:
- 4x IR distance sensors to detect obstacles (1.5m range)
- Obstacle avoiding (using distance sensors)
Common:
- Altitude hold based on Sonar (LV-EZ0)
- Automatic flight pattern (experimental).
--- Automatic takeoff
--- Position hold [outdoor] or obstacle avoiding [indoor] during a predefined time
--- Automatic descend
--- Automatic landing
- Added XBee for telemetry (and debug)
And some improvements in the code:
- New "radio test mode" to test radio equipment
- Revised control routines
Development
For the GPS position hold I had to implement the navigation algorithms for the quadcopter because it´s really different that the one used for planes...For this navigation it´s necesary to have the magnetometer to cancel the yaw drift in hover conditions. One thing I have observed is that you can only fly this tiny drone on very calm days because it´s too light for the wind... so it´s better suitted as an indoor drone. Then I started to think how to make a cheap way to navigate on indoor enviroments... I have one sharp IR disntace sensor so I start making some tests mounting the sensor in a servo to make a 180º scan. The idea was to mount 2 (or 4) of this sensors in the moving head.
On the tests I found that in this little machine the moving head caused some inestability, so I decided to mount 4 sensors in a fixed way. OK, this the cheap DIY version of an EXPENSIVE laser range finder, but it works...
there are many thing to improve and test, but it´s a promising start...
Details
Sonar module is an LV-EZ0. Because we don´t have any analog input available I use the PWM interface in a Port Change pin (PCINT20) to use an interrupt to read the sensor. (It´s recommended some solder skills to make this modification).
For the IR range finder (Sharp GP2Y0A02) I needed to use a separate Arduino Pro mini (again we don´t have any analog input free). This module connects to the ArduIMU via Serial port so we need to choose between GPS of range finder (outdoor-indoor decision).
On this III part, the hardware (ArduIMU) really show it´s limits... it´s not a problem of CPU power, it´s a problem of the limited I/O as I said before, so it´s time to move to the big brother, the new ArduPilot Mega Hardware... this new platform will be fantastic for this projects...
Behind the scenes
During the test of position hold I have some crashes (nothing important, only some broken propellers...) and there was a moment in that the quad performs not so good, so I start searching the reason. Again I suspect that it could be a vibrations problem so I decided to make a modified code to test the vibration on each motor.
As you can see I have problems on left motor, so I change this prop, also add a new layer of doubled sided foam tape to the ArduIMU and problem gone.
The code is here: Quad1_mini_test_motor_vibrations.zip (If you want to use it read the instrucctions)
Respect to the IR distance sensor, the first version was a moving head with a servo but this had some problems with vibrations that affect stability and also has a poor scanning rate, here is a photo of this prototype. Finally I decided to use 4 fixed sensors.
Codes
Some parts of this codes are still experimental but you can get it here:
Outdoor code (GPS): Quad_mini_1_27.zip . GPS libraries : GPS_libraries.zip
Indoor code (IR sensors): Quad_mini_1_29_rangefinder.zip External Arduino pro mini code: IR_distance1.zip
Old posts of this project: http://www.diydrones.com/profiles/blogs/arduimu-quadcopter-part-ii
Jose.
Original post : http://www.diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A161346&commentId=705844%3AComment%3A170455
European FoxTeam are doing the first test of Quadfox in Acro mode. We're doing some looping. The Quad Pilot is Giuseppe D'Angelo FoxTeam member the Father of HG3 .
In the video He explain how is possible to do looping with QuadFox v3 . At the end of looping for stabilize Quad he use switch to put quad in stable mode.
Happy vision
Regards
Roberto Navoni (Redfox74)
Known as the Terrestrial Artificial Lunar and Reduced Gravity Simulator, or Talaris, the three-foot-wide vehicle is a smaller version of a hopper that would be used in space. It is designed to go about 20 meters per hop; space-based hoppers might cover tens of kilometers--or possibly more--in a single bound. The team that built Talaris wants to use it on Earth to test guidance, navigation, and control software developed by Draper that would allow the space-based hopper to navigate autonomously.
The prototype was developed as part of MIT's effort to win the Google Lunar X Prize, a $30 million competition to get a privately funded spacecraft to reach the moon, travel 500 meters across its surface, and transmit video, images, and other data back to Earth. Both MIT and Draper are members of Next Giant Leap, one of about 20 teams registered in the competition.
Original post : http://www.diydrones.com/profiles/blogs/quadcopter-on-the-moon
Leaps and Bounds - Technology Review
FPV Tri-Copter Halloween Movie - Funny!!! from Pepelatz on Vimeo.
Dear Friends,
today i'm starting to doing the test of Quadfox v3 GPS . I check the functionality of GPS and Magnetometer during the navigation . I happy of my results . I put on my car my quad and going around the city. For doing thist test I start to evaluate the status of our advanced 3D Groundstation developed of my company Laser Navigation srl for professional application. Our company is available for develop some customization of our technology for different kind of application on air , on land or underwater.
The functionality of 3D Navigator Ground Station are :
We can develop driver for implement different kind of device , sensor , payload ecc . 3D Engine is developed in our company the project was started in 2001 .
for more info : www.virtualrobotix.com
company url : www.radionav.it
Regards
Roberto Navoni
CEO Laser Navigation srl