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

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

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