environmental test platform( e t p)（环境试验平台（e t p））.docVIP

Project Number: MAD-006A CENTRALIZED INTRUSION DETECTION via SWARM ROBOTS A Major Qualifying Project Report Submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science by: ________________ ________________ Nathan Fuller Nathan Rosenblad ________________ ________________ Christopher Thein Christopher Warms ________________ Derek Williams Date: March 1, 2007 Approved: _____________________________________ Professor Michael Demetriou, Major Advisor Acknowledgments We would like to especially thank Professor Michael Demetriou for all his guidance throughout this project. Special thanks are extended to Eric Twark, whose extensive knowledge of programming, aided us in the creation of a program for the robots. We would like express our sincere gratitude to Nathan Rosenblad whose efforts in creating basic circuit board design, procuring parts, and base construction over the summer made this project possible. Other special thanks are sent to the Aerospace Engineering Professors who shared their input and ideas at our weekly meetings. Abstract The goal of this project is to design, construct, and implement a centralized system to control drone robots equipped with visible and infrared light sensors which systematically detect, track, and contain an “intruder.” The drone robots and base station use custom-written software which allows wireless intercommunication and control between them via radios. Once the program commences, the robots are controlled autonomously by the base station; there is no human input, other than controlling the “intruder’s” trajectory. TABLE OF CONTENTS TABLE OF CONTENTS iii LIST OF FIGURES v 1. INTRODUCTION 1 2. COMPONENTS 4 2.1 Testing Environment 4 2.1.1 Environmental Test Platform (ETP) 5 2.2 Drone Robots 7 2.2.1 Radio 8 2.2.2 Battery Pack 9 2.2.3 Power Saving