Want to Watch it Run?
Look at our video
A Ground Vehicle and Quadcopter
Working autonomously detecting mines
Running in a test area
But can also be simulated
With a Real Time Feed
Following movements step by step
The Project
LiU
The project is a major part of the course TSRT10 at Linköping University at the Department of Electrical Engineering (ISY). The group contains a mix of mechanical and electrical engineering students.
History
This is a project that has been ongoing since 2009. The long term objective is to develop a minesweeper system. A lot of development has been a continuation from previous work. However there are also new additions. The two biggest ones in comparison to previous years is the implementation of a rotating LiDAR and setting up a quadcopter to communicate with the already existing platform.
Cooperation
The project is made in collaboration with Saab Dynamics.
Contact
If you want to contact us, send an email to tsrt10-minrojning@googlegroups.com.
The system
Combining the ground vehicle Balrog with the UAV Sauron in the mission to detect mines.
A SLAM algorithm is used to simultaneously estimate Balrog’s position
and map its surroundings. The OpenKarto ROS package is
utilized, which is an optimization based algorithm. It takes as input
sensor data from a rotating LiDAR and wheel encoders.
The navigation module has three different modes: mapping, covering
and disarming. The mapping mode explores and map the assigned area.
The covering mode covers all regions and search the mapped area for mines.
Finally, in the disarming mode Balrog visits all the mines detected
in mapping and covering for disarming.
The localization module is responsible
for detecting Balrog and
to estimate Sauron’s position and
orientation with respect to Balrog.
This was achieved by mounting
an AprilTag on Balrog and
modifying an external AprilTag
ROS package.
To be able to track the moving
Balrog, four time discrete PID
controllers were implemented that
control the height, pitch, roll and
yaw of Sauron. Input to these controllers
are the position and orientation
of Sauron relative to Balrog,
as outputted by the localization
module.
Hampus Andersson-Project manager
The project manager is responsible for communicating with the customer and client. He is also responsible for that the goals of the project are accomplished within the specified time. The project manager also encourages the other participants to conduct their work effectively and helps to resolve any internal conflicts that may arise. Also part of the Sauron group.
Elin Näsholm-Head of Documentation
Has the responsibilities of setting up templates for all documents, ensures a consistent structure in all documents and is responsible of handing in documents and doing so on time. Works in the Balrog group with navigation.
Mattias Andreasson-Head of Testing
Has the responsibilities of setting up a test plan, ensuring that tests are synchronized with each other and making sure that testing is well documented. Works in the Balrog group with SLAM and control.
Andreas Lundgren-Head of Design
Has the responsibilities of coordinating the design process between the subgroups and ensuring that the requirements regarding the design are fulfilled at the end of the project. Works in the Sauron group.
Andreas Hägglund-Head of Hardware
Has the responsibilities of reporting and resolving hardware malfunctions and ensuring that the hardware is secure when not in use. Works in the Sauron group.
Jonathan Jerner-Head of Software
Has the responsibilities of ensuring that all code is written according to the standard and is well commented, creating a backup of new releases and making sure old versions of the code are accessible. Works in the Sauron group.
Fredrik Gustafsson-Head of Slam
Has the responsibilities of ensuring all requirements regarding SLAM are fulfilled at the end of the project and making sure that the development work concerning SLAM is well documented.
Fredrik Tormod-Head of Navigation and Route Planning
Has the responsibilities of making sure requirements regarding route planning and navigation are fulfilled at the end of the project and making sure that the development work concerning route planning and navigation is well documented.
Documents
For a better understanding