Quadrotor control by teleoperation using an IMU (Inertial Measurement Unit) embedded in a glove

• Grant number: 16/04117-8
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2016
• End date: December 31, 2018
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Marcelo Becker
• Grantee: Giovani Benatti Debiagi
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This project, which will be developed in the Mobile Robotics Laboratory of EESC - USP (Sao Carlos School of Engineering - University of Sao Paulo), supported by the ART (Aerial Robots Team) from the same unit, presents, as main objective, a quadrotor aerial vehicle control system by teleoperation, using an inertial measurement unit (IMU) attached to a glove which will be used by the vehicle pilot. The project focuses on the complete development of the system mentioned above, that consists of data catchment from the IMU used by the pilot, considering the movements of his glove-wearing arm; development of an algorithm inside a microcontroller Arduino Nano, capable of interpreting the received data; sending of the acquired information to a laptop via a pair of Bluetooth modules; development of another algorithm, this time, inside the laptop, capable of making decisions of attitude based on the acquired information and send them to a quadrotor Pelican, manufactured by Ascending Technologies, via a pair of Xbee radio frequency transmission modules, controlling it. (AU)