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Quaffle

the amazing quadrotor that sees
by Daniel L. Lu, Richard Lee, and Anson Liang

Objectives

» Make a quadrotor that is capable of flying autonomously.

hover test

» Write object recognition software for obstacle avoidance.

hover test

Progress

» Made a new quadrotor chassis.

part

 

» Made a new quadrotor chassis.

part

aluminium centre piece

» Made a new quadrotor chassis.

part

polycarbonate circuit mount

» Made a new quadrotor chassis.

part

polycarbonate center pieces

» Made a new quadrotor chassis.

part

main carbon fibre arms

» Made a new quadrotor chassis.

part

auxiliary carbon fibre tubes

» Made a new quadrotor chassis.

part

3D printed battery holders

» Made a new quadrotor chassis.

part

3D printed rangefinder mount

» Made a new quadrotor chassis.

part

3D printed quadrotor corners

» Made a new quadrotor chassis.

part

polycarbonate landing gear

» Made a new quadrotor chassis.

part

steel motor mounts

» Made a new quadrotor chassis.

part

 

» Made a new quadrotor chassis.

part

Total weight 1.3 kg, diameter 63 cm.

» Installed off-the-shelf electronics

elec
elec

 

» Installed off-the-shelf electronics

elec
elec

Arduino Mega 2560

» Installed off-the-shelf electronics

elec
elec

Aeroquad shield (incl. IMU, etc)

» Installed off-the-shelf electronics

elec
elec

Bluetooth

» Installed off-the-shelf electronics

elec
elec

Remote control

» Installed off-the-shelf electronics

elec
elec

3-phase brushless motor

» Installed off-the-shelf electronics

elec
elec

electronic speed controller (x4)

» Installed off-the-shelf electronics

elec
elec

rangefinder (not shown)

» Installed off-the-shelf electronics

elec
elec

 

Software

» Flight control

Code

» Object recognition

Speeded Up Robust Feature (SURF) method

Object recognition

» Object recognition

Speeded Up Robust Feature (SURF) method

» Facial detection

Haar's face method

Facial detection

» Facial detection

Haar's face method

» Laser tracking

Pixelate, then find brightest pixel

laser

» Laser tracking

Pixelate, then find brightest pixel

Performance

Achieved flight control with remote.

hover, roll, pitch, and yaw

There are some vibrations

some vibrations are visible...

PID is not well-tuned

cannot remain stable for a long time

Conclusion

» Made a quadrotor that is capable of flying autonomously. ✓

hover test

» Wrote object recognition software for obstacle avoidance. ✓

hover test

» Not enough time to integrate the two. ✗

» Quadrotor PID tuning not satisfactory. ✗