Project

# Title Team Members TA Documents Sponsor
7 Drone Delivery System for Takeaway Business
 Ximo Wang
Yanbing Yang
Yang Chen
Yuzheng Zhu
 design_document1.pdf
design_document2.pdf
proposal1.pdf
 Jiahuan Cui
**Team Member (NetId)**
- Ximo Wang (ximow2)
- Yanbing Yang (yanbing7)
- Yang Chen (yangc7)
- Yuzheng Zhu (yz83)

**Problem**
We are going to design and realize an airway delivery system with drone, container and cloud server. Delivery of light weight, medium range, fast response with a city is a strong demand especially during rush hour. Traditional airway delivery drones with GPS guiding are not precise enough for landing in limited space. Existing delivery drones on market requires the manual operation during picking and placing the goods.

**Solution Overview**
The basic parts of our solution are delivery drone and automatic containers. The drone can communicate with container to fetch the delivery information while picking up goods. An app connects the container, cloud server and costumer is designed as well.

**Solution Components (Also Distribution of Work)**
- Light Delivery Drone (Yanbing)
Design and manufacture a quadrotor UAV with special structure for transition between picking-up mode and shipping mode. The drone will realize the function of self-navigation, precise landing, automatic obstacle avoidance, RTK communication and cloud server connection.
- Navigation System with RTK (Ximo)
Real-Time Kinematics operates by augmenting the standard Global Navigation Satellite System positioning technique with real-time correction data. The device applies corrections to its own GNSS calculations, resulting in highly accurate positioning with centimeter-level precision. Using this method, our UAV can find the accurate position of container when landing.
- Automatic Container (Yuzheng)
The container needs to interface with the drone, responsible for automatically storing objects delivered to the landing pad by the drone into the container. It also handles transporting goods placed in the locker by the merchant to the landing pad for the drone to pick up and deliver.
- Communication System (Yang)
Our drone needs to communicate with both container and cloud. In this way, user can send delivery request and know the progress of the delivery, even the current location of the drone. The container would also know the status of the drone and resend message if possible.

**Criterion for Success**
Our solution can accurately deliver the requested good from one location to the destination without manual operations. The drone can pick up the package and deliver it to the destination independently. What the user needs to do is just put the package into the container and get their package from the container.

**Alternatives**
Foodpanda has piloted food deliveries in Singapore using multirotor drones from ST Engineering and in Pakistan using VTOL drones from Woot Tech. Flytrex has delivered over 55K orders by drone in three towns in North Carolina and Texas since 2022, including Starbucks coffee, Walmart, Chick-fil-A, Papa John's pizza and more.
Our solution differs from existing solutions since it’s more convenient and cheaper. The drone and the delivery container are integrated, with the container serving both as a storage unit and a landing pad. Both merchants and customers need only to concentrate on the order itself. Placing an order through the program is all that's required, as all decision-making, delivery, and interfacing are fully automated. We use low-cost standard components to reduce expenses.

Remote Driving System

Bo Pang, Jiahao Wei, Kangyu Zhu

Featured Project

#### TEAM MEMBERS

Jiahao Wei (jiahaow4)

Bo Pang (bopang5)

Kangyu Zhu (Kangyuz2)

## REMOTE DRIVING SYSTEM

#### PROBLEM:

In daily life, people might not be able to drive due to factors like fatigue and alcohol. In this case, remote chauffeur can act as the driver to make the driving safe and reduce the incidence of traffic accidents. Remote chauffeuring can improve the convenience of driving. In the case of urban traffic congestion and parking difficulties, remote chauffeurs allow drivers to park their vehicles in parking lots away from the city center and then deliver them to their destination via remote control.

#### SOLUTION OVERVIEW:

The remote driving system is designed to provide real-time feedback of the car's external environment and internal movement information to the remote chauffeurs. Through the use of advanced technologies, the remote chauffeurs can remotely operate the car's movement using various devices. This system is capable of monitoring the car's speed, distance from obstacles, and battery life, and transmitting this information to the remote chauffeurs in a clear and easy-to-understand format.

#### SOLUTION COMPONENTS:

##### Modules on TurtleBot3 :

- The mechanical control system: to achieve the basic motion functions of the TurtleBot3 car.

- The distance sensing system used for monitoring the surrounding environment: Using LiDAR to detect the distance of the car in different directions.

- The system used for monitoring the vehicle's status: real-time monitoring the car's battery power, speed, etc., and uploading the data to the PC server in real-time.

##### Server Modules:

- The transmission system used to remotely control the car: implemented using Arduino IDE.

- The system used to build an AR-based information interaction system: implemented using Unity.

- The system used to output specific car motion commands: implemented using ROS to control the car.

##### HRI modules:

- The gesture recognition system used to recognize gestures given by people and feed back to the central PC server.

- The device used for interaction between the car and people: transmitting real-time surrounding information of the car to the Hololens 2 glasses in video form.

#### CRITERION FOR SUCCESS:

- Functionality: The remote driving system needs to be able to facilitate interaction between the user and the vehicle, enabling the user to remotely control the vehicle's steering, acceleration, and deceleration functions.

- User experience: The user can obtain real-time information about the surrounding environment while driving the vehicle through the glasses, and control the vehicle's movement through gestures.

- Environmental parameter detection: The vehicle can obtain distance information about the environment and its own real-time information.

- Durability and stability: The server needs to maintain a stable connection between the vehicle and the user.

#### DISTRIBUTION OF WORK:

- ECE STUDENT PANG BO:

Implementing the ROS interaction with the PC, using the ROS platform to control the car's speed and direction.

- ECE STUDENT WEI JIAHAO:

Building the car, implementing environmental monitoring and video transmission, ensuring stable transmission of environmental information to the user.

Implementing speed measurement, obstacle distance detection, and battery level monitoring for the car.

- EE STUDENT ZHU KANGYU:

Designing the AR interaction, issuing AR information prompts when the car is overspeeding or approaching obstacles.

Implementing hand gesture recognition for interaction between hololens2 and PC.