Autonomous Three-Dimensional Path Planning of UAV
Developer @e-YAntra, IITB
Devised a new method for localization and path planning for a UAV to maneuver through hoops set in different orientations using feedback
from a monocular camera placed at a ceiling height
Localization of UAV using WhyCon markers mounted above them
Pose estimation of Obstacles and Hoops using ArUco markers mounted above them
Path planning using RRTConnect algorithm available in OMPL Plugin in V-REP and directing UAV via ROS commands
Implementation of four parallel PID on external control loop to command the UAV velocity in direction of its pitch, roll, throttle and yaw
This project was later converted to one of the theme/Problem statement in e-YRC'18 named Hungry Bird
- UAV
- PID
- Localization of UAV using WhyCon
- Simulation in V-REP
- OMPL
