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0819

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by

Jimmy Chiu

on 18 August 2014

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Transcript of 0819

Final
2014.08.19
Jimmy Chiu
Presentation
Detect surroundings
and
calculate attitude of MAV
Found circles
and
got relative position
Command from Operator
(up, down, left, right,
toward and away)
Control position and attitude of MAV
Flowchart of Control
Circle Detection
Project
ROS
master
Hokuyo sensor
node
circle
detection
node
Publisher
Subscriber
Result of circle detection
Display via Rviz
Result of circle detection
Final goals
1. Automatically fly
2. Send data back

Structure of MAV
Assembling
Problems
1. Clone CMU package into board PC
2.Errors of ESCs
Suggestion
1. Use a smaller board PC to reduce weight
Build a MAV with limited DOF to inspect interfaces of electrical poles and chimney.
*. Limited DOF: up, down, left, right, toward and away.
Final
2014.08.19
Jimmy Chiu
Presentation
2014.04.01-2014.08.22
Full transcript