Anant Rao
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  • Pittsburgh, PA
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Anant Rao's Discussions

gps module cost estimation

Started this discussion. Last reply by Anant Rao Sep 21, 2012. 13 Replies

Hello all,Does any one know why do ublox lea6h gps evaluation boards ($100) cost less than the module ($120) itself?Here's the link for eval board that i bought at $99.99: …Continue

Quad HIL Simulation with XPlane

Started this discussion. Last reply by Anant Rao Jun 3, 2012. 3 Replies

Hello all,I'm trying to get the waypoint navigation in HIL simulation using XPlane, but not successful yet.....with the default HIL firmware and the config file "AC211r6_Xplane.param" available in…Continue

Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller

Started this discussion. Last reply by Alexandre Moretti Bernardo Jul 28, 2013. 38 Replies

Got a successful comm between Arduino Mega 2560 and Hokuyo URG-04LX-UG01 LiDAR using a Vinculum VDIP1 USB host controller.........The code sends VV command to Hokuyo LiDAR, and receives response @…Continue

HIL Simulation

Started Feb 22, 2012 0 Replies

Hi,I'm trying to run arducopter HIL simulation with mission planner and X-plane 9. When I run the script from mission planner, the copter takes off, keeps increasing altitude and drifts from take-off…Continue

 

Anant Rao's Page

Latest Activity

Alexandre Moretti Bernardo replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Good morning, I'm using the same components you (arduino Mega2560, VDP1 and URG laser 04lx UG01) but despite getting the response VDIP1 with "D: \" to send the command "VV" get as return information Bad Command. Beyond what…"
Jul 28, 2013
Anant Rao replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"great...good luck !!"
Mar 4, 2013
Gary McCray replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Thank You Anant, Very interesting approach in U of P video top mounted Scanner for clearance and object avoidance and bottom mounted sideways scanner oriented vertically with servo scanning side to side to do 3D detection and mapping. It definitely…"
Mar 2, 2013
Anant Rao replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"@Gary: Interfacing Hokuyo to APM was only a proof of concept...a hobby job. If there was a way only desired amount of scan data could be configured for transmission (and assuming we'd use only a small scan range of lidar), such an interface…"
Mar 1, 2013
Gary McCray replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Hi Anant and all, I have a Hokuyo LASER scanner URG 04LX with a slightly shorter range but higher resolution than your UG01. I have looked at your project pages and they are a wealth of information regarding interfacing this and I am thinking of…"
Mar 1, 2013
Gary McCray replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Hi KM6VV, Thanks for mentioning the hood, (a little hat maybe) Kinect has the same problem even more so due to low energy of structured IR illumination spots. I saw an interesting application of SLAM where most of the effort was put into maintaining…"
Feb 26, 2013
KM6VV replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"@Gary, Glad to hear you got it working! SLAM would be interesting indoors, but for a rover I'm thinking that I'd just use it to assess the difficulty of various paths (obstacles).  But I'm not there yet. Be sure you have a hood…"
Feb 26, 2013
Gary McCray replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Hi KM6VV, Thank you for the advice, I now have it up and running. Yes I had metered between the 2 and the 5 volts from the USB did not show up at the RS-232 power connections. For this model, it appears they really do require you to connect via the…"
Feb 26, 2013
KM6VV replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"@ Gary Yeah, I know what you mean! Expensive little part. Did you "meter" between both power pins and wires? Maybe they're just tied together? My mini-ITX has "high-power" USB sockets. But I've seen the…"
Feb 25, 2013
Gary McCray replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Thank You KM6VV, I will try giving it power via the RS-232 wires and still using the USB for communication. I tried giving it power via the USB using a USB doubler (2 USB connectors on the PC end for paralleling USB power, only one of which connects…"
Feb 25, 2013
KM6VV replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"@Gary, You give it power via the RS-232 wires.  You might be able to install a second USB connector and get additional power that way.  Is that what you're asking? Alan  KM6VV"
Feb 24, 2013
Gary McCray replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Hi All, I've got a URG 04LX, the one with RS232 and USB interface. I am currently trying to bring it up on my PC prior to seeing what I can do with it on the PX4. I tried powering it straight through the USB interface using a USB power doubler,…"
Feb 24, 2013
Anant Rao replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"@ Alexandre: I used VNC1L with its default firmware."
Feb 24, 2013
Alexandre Moretti Bernardo replied to Anant Rao's discussion Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller
"Hello friend, I wonder what firmware you used the VNC1L, even if it was VDPS (Vinculum Disk And Peripheral Interface). I wonder too if you had to make any changes in the specific firmware.thank you"
Feb 23, 2013
Anant Rao left a comment for Anant Rao
"We used 2D LiDARs for obstacle detection over an FOV of 90 degrees, and the obstacle avoidance was pretty simple - when an obstacle is detected, move away from it sideways (relative direction) until it is no longer in the FOV; then continue to the…"
Jan 29, 2013
sai jeevan reddy left a comment for Anant Rao
"thankyou very much for ur valuable suggestions ananth! actually im very much clear about the points u have mentioned but my main confusion is about the obstacle avoidance for   my multicopter.how can i implememt obstacle avoidance feature in my…"
Jan 27, 2013

Profile Information

About Me:
I'm a very active person. I love to travel, take part in adventurous sport, and try out new cuisines often. I like to visit new places and meet new people.
Please tell us a bit about your UAV interest
I like to work on Micro Aerial Vehicles, and small UAVs.
Hometown:
Raipur, India

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Anant Rao's Blog

Hokuyo LiDAR interfaced with Arduino Mega 2560 board

Posted on November 19, 2011 at 1:00am 20 Comments

Successfully interfaced Arduino Mega 2560 with Hokuyo URG-04LX-UG01 LiDAR using a USB Host Shield 2.0 from Circuits @ Home....the LiDAR gives the device descriptors fine....next step is to send the VV commands and receive info from LiDAR using other USB library functions.....

 

I'll mount this lidar on…

Continue

Comment Wall (4 comments)

At 4:27am on January 26, 2013, sai jeevan reddy said…

hello sir,

            iam jeevan from INDIA.feeling great to see an Indian in this forum.sir actually im in btech 3yd year and im an aeromodeller .i have build two quadrotors.sir actually  we have a competition in our college.

http://www.nal.res.in/micav2013/

im thinking of going for a multirotor and previously i have APM1  and thinking of using that to complete the mission in this competition.my main problem is regaridng the power system to be used to get 20min of flight time.sir once please see the mission statement ,u will know completely about my problem.im in a confusion that whether to make quadrotor or y6.please guide me!

my budget is around rs.60,000.

At 7:44am on January 26, 2013, Anant Rao said…

hi jeevan, u can call me anant...sir sound very formal :)

a quick look at mission statement suggests its pretty sophisticated...here's hw i would approach:

- from the mission scenario figure out how many exact no. of copters are suitable...it might even be just 1...

- for each one, define task requirement: primarily sensors, nav mechanism, and comm modules (which in turn depends on the strategic position of single/multiple rotors) it has to carry. As u might have already guessed, regular GPS won't work indoors...

- calculate the total payload of each rotor (including mechanical frame, sensors, other payloads, etc. but excluding the battery) and total time of flight for each rotor. Based on this, I'd choose the no. of batteries required for the mission...

- for lifting more payload from single rotor, i'd go for hex-rotors (or octa ?) rather thn single rotors n quadrotors...the controls algorithms might be more complex, but u can achieve more thrust with 6 props (n suitable battery combination) on the same frame thn 4 props...having said tht, quads r a very good option depending on payload n flight time requirements...

** Choice of batteries of correct voltage rating and their no.s is critical for each rotor, given that it has to fly for a really long time...recall tht the higher the voltage rating, the higher payload battery can lift / more altitude with same payload ...n higher Ah give u more flight time...a single 14V LiPo battery weighs about 200gm, n would lift about 1.5kg for 5-7 minutes...but my knowledge might be outdated...plz check the latest datasheets for correct no.s...

once u choose batteries, add'em to the initial payload calculations n rework the flight time to verify the mission flight times r still met for each rotor...

** once u figure out battery requirements, choose the correct dc motors with the longest props with large prop area to get more thrust...

all the best for ur project !!

At 4:47am on January 27, 2013, sai jeevan reddy said…

thankyou very much for ur valuable suggestions ananth!

actually im very much clear about the points u have mentioned but my main confusion is about the obstacle avoidance for   my multicopter.how can i implememt obstacle avoidance feature in my copter?

thankyou

At 8:24pm on January 29, 2013, Anant Rao said…

We used 2D LiDARs for obstacle detection over an FOV of 90 degrees, and the obstacle avoidance was pretty simple - when an obstacle is detected, move away from it sideways (relative direction) until it is no longer in the FOV; then continue to the next waypoint from the new location. 

For more complex cases, more sophisticated algorithms can be implemented.

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