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<\/p>\nThese past two weeks, I have built a functional launch sequence for the drone and verified its behavior in simulation. This sequence begins with arming the drone and having it takeoff to a set altitude of 3.2 meters (arbitrarily chosen for now)\u00a0 using high level position commands (send desired position, drone’s flight controller handles orientation). The drone then switches to a lower-level control output of desired roll, pitch, and yaw to allow for more dynamic maneuvers.<\/p>\n
In addition, I have spent this last week implementing the transformation from 2D target pixel location to estimated 3D position in the world. This involves a combination of back-projection (transforming 2D pixel location into 3D position with respect to the camera) and intersecting a ray with the ground plane. More details can be found on this document:\u00a0https:\/\/drive.google.com\/file\/d\/1Tc6eirIluif-NBqA5EThOGmiCBtPO4DY\/view?usp=sharing<\/p>\n
Full results can be seen in this video: https:\/\/drive.google.com\/file\/d\/1Tc6eirIluif-NBqA5EThOGmiCBtPO4DY\/view?usp=sharing<\/p>\n
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For next week, now that I have 3D target position, I can work on generating 3D trajectories for the drone to follow so that it keeps the camera fixed on the target as much as possible (our objective function). I will first make a very simple baseline planner and stress-test the system so it is ready for physical testing next week.<\/p>\n","protected":false},"excerpt":{"rendered":"
These past two weeks, I have built a functional launch sequence for the drone and verified its behavior in simulation. This sequence begins with arming the drone and having it takeoff to a set altitude of 3.2 meters (arbitrarily chosen for now)\u00a0 using high level position commands (send desired position, drone’s flight controller handles orientation). … <\/p>\n