ECE 477 Senior DesignMRAV – Multi Rotor Autonomous Vehicle

Team 9April-29-2011

Project Overview• Quad-rotor helicopter– Autonomously self-stabilizes

• PID Control Theory

– Sensor Fusion• Triple Axis Accelerometer• Triple Axis Gyroscope• Triple Axis Magnetometer• Barometric Pressure• Ultrasonic Range Finders• GPS

– Communicates with ground station using Xbee wireless

Project Overview [Cont’d]

Project Overview [Cont’d]

Design Challenges Faced

• I2C Communication Protocol• Floating Point Arithmetic• Wireless Communications• PID Control Theory and Application• Huge amount of code Debugging • High RAM usage

ECE270/362 Knowledge Used

• Power Requirements / Chip Selection / Reading Data Sheets

• Using IDE and Programming Microcontrollers• Microcontroller Peripherals– ADC– PWM– I2C– SPI

Project Demo

http://www.youtube.com/watch?v=eZEt1d70CV4

The END