Group 4Bianca WoodChris Culver

Shane ParkerYousef Al-Khalaf

Motivation

Challenge Our CapabilitiesSense of AccomplishmentSheer Fun

Objectives

Competitive performance against human opponentsAgileAccurate shootingReal-time, intelligent decision-making

Specifications

Four quadrotor combatantsEach quadrotor has .5m diamterAble to operate for 15 minutes on a single

charge

A.I. Controller

Power System

Image Processor

Flight Control

Destination Current Position

Shut Off

Opponent Pos. & Opponent Hit

Memory Power Switch

Starting Pos.

Motor ControllerCamera

Sensor

Laser

Block Diagram

Artificial Intelligence Subsystem

State Machine

Navigation Mesh

Path With Navigation Mesh

Control Point

Cover Zones

Probability Field

Hardwarei7 Ivy Bridge16GB DDR3 1600 with 9-9-9-24 Timings120GB SSDNVIDIA 8900 GT

Motion Detecting Algorithms• Two frames difference motion detector

Motion Detecting Algorithms, cont.Simple background modeling motion detector

Motion Processing AlgorithmsGrid motion area processing

Overall Software Class Diagram

Power

Micro Controller

Motor

Motor

Motor

Motor

Movement

A.I. Controller

Flight Control Sub-System

NavigationControl/Stabilization

Algorithm Coordinates /

Sensors Motors

Navigation•Coordinates come from AI computer

Stabilization•Readings come from sensors

Varies Voltage

Stabilization Navigation

Dead-Reckoning

Image recognition1

2

3

4

Hardware

Voltage :1.8 – 3.3 V

Current : 165 µA/MHz

32 bit

3 – Axis Accelerometer

3 – AxisGyroscope

Digital Compass

Voltage : 2.1 – 3.6

Frequency : 2.4 GHz

Data Rate : 250 Kbps

Range : 133 ft

PowerBest part of the project Lithium-ion Polymer battery11.1 v and trying to figure best mAh Need a PCB to disperse the power

BudgetItem Quantity

Price per Quantity Total Price

Quadcopter Frames 4 $250 $1,000

Computer 1 $500 $500

Spy Strike Laser Dueling System 2 $23 $46

Motors 12 $10 $120

Slowfly electric prop 1045R 4-piece set 4 $3 $12

Wireless Microprocessor 4 $50 $200

Webcams 4 $15 $60

Accelerometer/Gryometer 4 $100 $400

11.1V 1600mAh 25C LiPo Battery 4 $30 $120

Miscellaneous Unknown UnknownAllocating

$150

Total $2,608

FinancesNeed sponsors/ donations$500 from a family friend$500 from another friendMotors Still waiting

Progress

Challenges

Questions?