Every Bachelor-student at the Technical University of Denmark (DTU) is entitled to make a minor research project at the end of their bachelor degree within their line of study - In my case electrical engineering.
Currently, I am doing a projec titled: Sensor Based Navigation for Drones. This project is about making a drone fly autonomously by using advanced control theory and the onboard sensors such as an IMU, a camera and a range finder, which is used to measure the height of the drone. We are trying to built a VO-pipeline using the camera, so we can use the IMU and the camera to give a pose estimate. By using a Kalman filter, we will attempt to get a precise pose estimate despite drift on the sensors.
We will use onboard sensors on the drone. We will however not use the built in GPS-sensor on the drone, as the GPS-sensor signal is not always available and therefore our project aims to make a framework that should also be able to make the drone fly in cities, where the GPS-signal might be very weak or in areas, where it might not be available at all.
Status so far:
Tuesday 14th of July 2020 - me and my fellow student August have made drone fly - we used however a manual controller.
Thursday 16th of July 2020 - During a test flight we unfortunately crashed our drone. This was a huge failure. Luckly, we only minor parts were damaged, but it has caused us to use the following days on restoring and rebuilding the drones for future test flights.
Tuesday 21th of July 2020 - On this day we have finished working on the hardware on the drone, so now we just need to work on the last parts of the controller and the VO-pipeline.
Thursday 23rd of July 2020 - I have been trying to parallelize much of my code in order to make it more efficient. This has not been an easy task, since many of the funcitons do not perform so well. Consequently, I have been forced to implement some of OpenCV's own functions, as the deadline of the project is coming up soon.
Thursday 30th of July 2020 - We are almost done with the VO-pipeline and the controller for the drone so we definitely expect to finish on time. I will soon post a video where you can see how the VO-pipeline works.
Goal of project:
We hope to have a framework that can be used to make a quadcopter/drone fly autonomously.
Deadline of project:
August 10th 2020