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people:kidson:quadrocopter [2012/10/28 13:38]
kidson
people:kidson:quadrocopter [2012/10/29 14:12] (current)
kidson
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-Quadrocopter- landing on a moving platform+====== ​Quadrocopter- landing on a moving platform ​======
  
 This project was conducted under the Computer Vision group at Technical University Munich http://​vision.in.tum.de/ ​ The project involved using cameras to track and follow a marker on the ground as well as land on top of this marker when commanded. ​ An android phone interface was also developed so that the quadrocoptor could be either be manually controlled or issued autonomous mode commands, such as "​track"​ or "​land"​. This project was conducted under the Computer Vision group at Technical University Munich http://​vision.in.tum.de/ ​ The project involved using cameras to track and follow a marker on the ground as well as land on top of this marker when commanded. ​ An android phone interface was also developed so that the quadrocoptor could be either be manually controlled or issued autonomous mode commands, such as "​track"​ or "​land"​.
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 In order to autonomously track and land on a marker, a number of vision and control algorithms were implemented. In order to autonomously track and land on a marker, a number of vision and control algorithms were implemented.
-Visual tracking of the ground marker +  * Visual tracking of the ground marker 
-Extended kalman filter to fuse the position of the marker from vision with odometry data to obtain an estimate of the world position of the quadrocopter +  ​* ​Extended kalman filter to fuse the position of the marker from vision with odometry data to obtain an estimate of the world position of the quadrocopter 
--Various PD controllers +  ​Height ​PD controller to maintain a desired height based on a downwards pointing distance sensor on the quadrocopter 
-  ​-Height controller to maintain a desired height based on a downwards pointing distance sensor on the quadrocopter +  ​Velocity ​PD controller for x and y 
-  ​-Velocity controller for x and y +  ​Position ​PD controller for the heading (yaw)
-  ​-Position controller for the heading (yaw)+
  
-The flight ​and landing operation ​is as follows:+==== Flight ​and landing operation ​====
  
--Quadrocopter takes off and is controlled manually by the phone +  * Quadrocopter takes off and is controlled manually by the phone 
--After the marker has been sighted, it is possible to switch to tracking or landing mode +  ​* ​After the marker has been sighted, it is possible to switch to tracking or landing mode 
--"​Tracking"​ will command the quadrocopter to follow the marker based on visual and odometry data +  ​* ​"​Tracking"​ will command the quadrocopter to follow the marker based on visual and odometry data 
--"​Landing"​ will start the landing procedure +  ​* ​"​Landing"​ will start the landing procedure 
-    ​-track ​and follow the marker until the quadrocopter is stable (marker stays in field of view for some time) + 
-    ​-begin ​descent by slowly decreasing height command, while continuing to track and follow the marker +==== Landing Procedure ==== 
-    -When the marker is so large that it no longer fits in the camera'​s field of view, set x and y velocities to 0 and do the final descent.+   * Track and follow the marker until the quadrocopter is stable (marker stays in field of view for some time) 
 +   * Begin descent by slowly decreasing height command, while continuing to track and follow the marker 
 +   * When the marker is so large that it no longer fits in the camera'​s field of view, set x and y velocities to 0 and do the final descent
 + 
 +The following videos show the tracking, landing, and smartphone control interface.
  
 <​html>​ <​html>​
 +
 +<p>
 +<iframe width="​100%"​ height="​370" ​ src="​http://​www.youtube.com/​embed/​kdyTqLgtGvE"​ frameborder="​0"​ allowfullscreen></​iframe>​
 +
 +<p>
 +
 <iframe width="​100%"​ height="​370" ​ src="​http://​www.youtube.com/​embed/​cLBD71Xbpws"​ frameborder="​0"​ allowfullscreen></​iframe>​ <iframe width="​100%"​ height="​370" ​ src="​http://​www.youtube.com/​embed/​cLBD71Xbpws"​ frameborder="​0"​ allowfullscreen></​iframe>​
 </​html>​ </​html>​
 +
 +==Links==
 +
 +{{:​people:​kidson:​quadrocopter:​project_presentation_final.pdf|Final Presentation Slides}}
 +
 +Get the code: svn checkout svn://​svn.code.sf.net/​p/​quadro-nav/​code/​trunk quadro-nav-code
  
people/kidson/quadrocopter.1351427880.txt.gz · Last modified: 2012/10/28 13:38 by kidson