AutoRef Honors2019 timeline

AutoRef Honors 2019 Navigation

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1. Main

2. Timeline logs/thought process

3. Software Architecture

4. Vision

5. Simulation

6. Conclusion + Future goals

AutoRef Honors 2019 - Timeline

Thought Process

• Research and selection of drone
• Control test + hover mode using flowdeck
• Decision on relative positioning system instead of absolute
• Thinking of implementation of rules
• reflection on midterm presentation
• Motion commands through python script
• Ball detection with python + opencv, tested using digital phone camera and wifi connection
• Test with 2 analog fpv cameras and radio transmission-> issues with image flicker due to noise made color-based ball detection unreliable
• Decision to use raspberry Pi with digital camera for image capture and processing and wifi connection to pc runnning bitcraze client
• Drone upscale: issues with ESCs and controller tuning
• Transfer to Coppeliasim due to quarantine: Drone control + ball and line detection implemented and tested in real game scenario & ROS

hardware

cf bolt flowdeck also pid tuning of bigquad somewhere

Q1

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Q2

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Q3

Q4

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