Heineman, George T.
Michalson, William R.
MIT Lincoln Laboratory-Lexington, Massachusetts
MIT Lincoln Laboratory
MIT Lincoln Laboratory has expressed growing interest in projects involving quadrotor Unmanned Aerial Vehicles (UAVs). Our tasks were to develop a system providing computerized remote control of the provided UAV, as well as to develop a high-accuracy localization system. We integrated the UAV's control system with standard Robot Operating System (ROS) software tools. We measured the reliability of the control system, and determined performance characteristics. We found our control scheme to be usable pending minor improvements. To enable localization, we explored machine vision, ultimately altering the Augmented Reality library ARToolKit to interface with ROS. After several tests, we determined that ARToolKit is not currently a feasible alternative to standard localization techniques.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering
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