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drone-project's Introduction

프로젝트 기술문서

ricoshin.github.io/drone-project

프로젝트명

주변 환경 인식 및 자율비행 드론 시스템 구축

개발환경

  • FCU와 companion computer를 통합한 Linux-based MAV 기반(Erle-brain2)
  • Debian / C++ / ROS (Robot Operating System)
  • mavros 패키지를 매개로 Autopilot(APM/PX4) 원격제어

프로젝트 목표

  • Wi-Fi 로 실시간 영상 전송 / 원격 머신에서 고비용 연산처리 / 제어신호 리턴
  • Gazebo를 이용한 시뮬레이션 (자율비행 알고리즘 테스트)
  • Caffe를 ROS package로 wrap하여 원격지에서 실시간 object detection
  • Kalman filter를 통한 state estimation
  • PTAM을 이용한 드론 pose예측 및 호버링 유지
  • LSD-SLAM을 이용한 주변 환경 매핑

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