Ben Schreck and Lee Gross 6.111 Final Project...
16
Gesture Controlled Drone 6.111 Final Project Presentation Ben Schreck and Lee Gross
Transcript of Ben Schreck and Lee Gross 6.111 Final Project...
Gesture Controlled Drone6.111 Final Project Presentation
Ben Schreck and Lee Gross
A little about UAVs
High Level System Diagram
Drone ControllerGesture State MachineHand DetectionKinect USB Adapter
PC FPGA
PC
Microsoft Kinect
Kinect Camera
PrimeSense NITE Hand
Tracker
Serial Port (USB)
Raw RGB & Infrared Data
OpenNI Drivers
Hand Coordinates to Serial Port Program
RGB & Depth Stream Hand Coordinates
Depth Stream
Kinect Camera
USB Module Verilog USB/Serial Module
Gesture Recognition
Turning Drone On
State 3
State 2
State 1
State 4
Idle
State 0
State 5
State 6
State 7
Turning Drone OffIdle
Center
Left
Center
Idle
Center
Right
Center
Off
Hover
Roll
Pitch
Graphics
Tracking Gesture: RollCurrent Value: 129
Remote Control Interface
FPGA AD558 DAC Remote Control
Analog Outs (0 ->3 Volts)Digital Outs (1 or 10 Bits)
On/OffHover
PitchRoll
Trim
On/OffHover
PitchRoll
Trim
Common Ground
Additional Features
Tracking Gesture: RollCurrent Value: 129
Camera & Wireless Transmitter
TimelineKinect Input
Drone Control Interconnect
USB Module
On Gesture
Off Gesture
Up/Down Gesture
Roll Gesture
Pitch Gesture
Integration/Debug If necessary
Graphics If necessary
Video Feed If time allows
Week 1: 11/10 - 11/16 Week 2: 11/17 - 11/23 Week 3: 11/24 - 11/30 Week 4: 12/1 - 12/7
Potential Issues
Integration might take longer than expected
USB module could prove challenging
It might be hard to connect leads from FPGA to Remote Controller
PC->FPGA connection might be too slow to effectively control quadcopter
