MATLAB EXPO 2016 Formation Flying Of 3 Mavs From …...Formation Flying Of 3 Mavs From Design To...
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Formation Flying Of 3 Mavs From Design To Flight Testing
MATLAB EXPO 2016
Devshree Kumar, G Kumaresan
Scientist (MAV Unit), Sr. Scientist (FMCD)
National Aerospace Laboratories (CSIR-NAL),Bangalore
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Motivation
The potential of the individual microaerial vehicles can be increased bycollectively using a group of microaerial vehicles which has greateradaptability and flexibility
Applications:Applications:
Large area surveillance andreconnaissance, 3D aerial imaging,border patrolling, wildlife conservation,exploration mapping
Battle space management scenario illustrating distributedcommand and control between heterogeneous air and groundassets.Figure courtesy of DARPA.
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Outline
Objective
Problem Definition
Pushpak : Mini UAV
Formation Controller Description (SDC) Formation Controller Description (SDC)
SILS/PILS of formation controller
Formation Flight procedure
Leader-Follower flight results
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Objective
To design and simulate a formation control algorithm to fly three MAVs in triangle pattern and further test the control in real flight on three MAVs.
In future this formation control can be applied to In future this formation control can be applied to practical problems like large area precision farming, wild life poaching activities, border patrolling.
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Problem Definition
Formation of 3 MAVs in triangle pattern
One Leader-Two Follower MAVs
Control separation and deviation angle
among Leader and Followersamong Leader and Followers
Wireless transmission among MAVs :
Leader sends its GPS Location, velocity
And heading to Followers.
All MAVs send their location to Ground Control Station
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Challenges and Solution
Using multiple Xbee’s and RC Tx-Rx at same operating frequency 2.4 Ghz for wireless communication among 3 MAVs and GCS caused interference of signals leading to blocking of neighbor RC Tx.
3 Xbee’s for MAVs and 1 for GCS were addressed uniquely and all enabled with API data packet scheme and API module is included in the overall code of APM 2.6
Challenges Solution
blocking of neighbor RC Tx.
Initially algorithm was tested with larger separation among Leader and Follower, but as soon the separation was narrowed, oscillations starting and Follower used to exceed the Leader and start loitering at that waypoint.
Flying three fully autonomous aircrafts together in formation in unpredictable weather conditions (wind gusts, thermals, etc) affects the stability of formation
This issue was resolved by making the velocity control loop in the lpsi/SDC formation controller more bounded by applying tanh function.
The autopilot control takes care of the wind disturbances and stabilizes the flight of the individual MAV
The formation flight was tested on three MICAVs in winds upto 5 m/s and velocity control so designed was responsible to maintain the formation
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Pushpak : A Mini UAV
It is designed and fabricated by NAL
It is 450 mm wingspan pusher configuration UAV
Fully populated Pushpak airframe
Component Model Name Manufacturer Data Rate Specification
Airspeed sensor MPXV7002DP Freescale 50 Hz Typical Pressure
Accuracy = +_2.5
Pa
RF Telemetry
module
XBeePro 2.4 DigiMesh 250 Kbps Typical Range=1.6
km, 2.4 Ghz
Onboard autopilot APM 2.6 ArduMegaPilot
GPS module Ublox LEA-6H 3DR
HILS using Pushpak airframe and servo actuators
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Formation Controller (Guidance Loop): designed in MATLAB/Simulink
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Separation deviation angle controller (SDC)
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Formation control interfaced with 6dof aero model and autopilot control
Follower MAV block
Follower 6 dof model
States [V,alpha,Beta,phi,theta,psi,p,
q,r,lat,lon,h]
V=VfAirspeed
energy error
Throttle command
Autopilot control block
da,de,dt
Leader 6 dof model + autopilot
control loop
Formation control lpsi
Vl,wl
Vf
wf Navroll blockBank angle
12 12,l
12 12,d dl Error=
12 12 12 12( , ) ,d dl l
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SILS of overall formation controller
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6 dof aerodynamic model with autopilot control
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PILS Facility setup at NAL
Follower MAVLeader MAV QGCS
Mission Planner
Radio Control Transmitter Radio Control Receiver
Autopilot Board APM 2.6
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Multi-MAV Communication Setup
API Scheme data format
GCS Multiple MAV ID
Leader Node Follower1 Follower2
14
GCS Node Leader Node Follower1Node
Follower2Node
PAN ID 3332 3332 3332 3332
16 Bit Address 1001 3333 4444 5555
Baud Rate 57600 57600 57600 57600
API Enable 1 1 1 1
XBee Configuration for Multi-MAV communication
Leader Node Follower1Node
Follower2Node
SYS ID 1 2 3
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Flow of control in Multi-MAV setup
Leader
Host PC
APM Mission PlanerFG/X-Plane
Compile
/Upload
FTDI
APM Board
Sensor Signals
UDP
XBee - 3333
Follower 1Follower 1
Host PC
APM Mission Planer FG/X-Plane
Sensor Signals
UDP
Compile
/Upload
FTDI
APM BoardXBee - 4444
Debug (optional)
DocklightHost PCXBee - 6666
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Implementation in PILS
Algorithm design and development
in Matlab/Simulink
Auto code generation
Port onto APM 2.6 using
Arduino IDE
MP and FG linked using
MAVLink protocol to APM 2.6
MP and FG linked using UDP port
Leader GCS starts auto
mission
Follower GCS starts auto
mission
RC Txswitched to auto
RC Txswitched to
guided
Start following Leader
Leader and Follower mission
observed on Ground Control
StationRC Tx
switched to auto
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Flight mission of two MAVs in PILS
QGCS
Leader GCS
Follower GCS
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Formation flight test procedure
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Leader-Follower Flight Test
Follower MAV
Leader-Follower MAVs flown in formation by NAL Team at Hoskote Lakebed,Benguluru
Leader MAV
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Leader-Follower flight test result
Desired Separation between Leader and Follower=20m
Error in relative separation=
Leader Follower Flight TrajectoryRelative Separation between Leader and
Follower
20m
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Acknowledgements
Great thanks to:
Director,NAL
Dr. Ramesh G,HOD MAV UNIT
Dr. G.K.Singh and team,FMCD Dr. G.K.Singh and team,FMCD
Dr. Kamali C and Dr. Somya Ranjan Sahoo
Flyers Vikas and Goutham
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THANKS