Real-Time Autonomous Localization, Pathfinding, and Control of Quadrotors Using Robot Operating System and Computer Vision Techniques

Griffin Eslinger, GSSM

Abstract

This project was created at the MIT Beaver Works Summer Institute (BWSI), under the Unmanned Aerial Vehicle (UAV) program. The goal of this project was to provide a system of programs to fly a quadrotor through an obstacle course. The problem was broken into modules involving object detection, state estimation, and smooth control. Teams of students developed programs for each module and integrated them with Robotics Operating System (ROS). Within the obstacle course, the quadrotor moved from gate to gate, identified different obstacles, and followed a path around them. While the quadrotor’s performance was not excellent during the final competition, the program architecture and methods used were still effective. With the addition of on-board computing, the methods explored in this project could yield smooth and computationally moderate control.

 
Apr 14th, 11:30 AM

Real-Time Autonomous Localization, Pathfinding, and Control of Quadrotors Using Robot Operating System and Computer Vision Techniques

Neville 206

This project was created at the MIT Beaver Works Summer Institute (BWSI), under the Unmanned Aerial Vehicle (UAV) program. The goal of this project was to provide a system of programs to fly a quadrotor through an obstacle course. The problem was broken into modules involving object detection, state estimation, and smooth control. Teams of students developed programs for each module and integrated them with Robotics Operating System (ROS). Within the obstacle course, the quadrotor moved from gate to gate, identified different obstacles, and followed a path around them. While the quadrotor’s performance was not excellent during the final competition, the program architecture and methods used were still effective. With the addition of on-board computing, the methods explored in this project could yield smooth and computationally moderate control.