Faculty Advisor

Heineman, George T.

Faculty Advisor

Michalson, William R.

Center

MIT Lincoln Laboratory

Abstract

Our project's task was to assist Lincoln Laboratory in preparation for the future automation of a quadrotor UAV system. We created an interface between the quadrotor and ROS to allow for computerized-control of the UAV. Tests of our system indicated that our solution could be feasible with further research. In the next phase of the projects, we created a localization system automate take-off and landing in future mission environments by altering the augmented reality library, ARToolKit, to work with ROS. We performed accuracy, range, update rate, lighting, and tag occlusion tests on our modified code to determine its viability in real-world conditions. We concluded that our current system would not be a feasible due to inconsistencies in tag-detection, but that it merits further research.

Publisher

Worcester Polytechnic Institute

Date Accepted

October 2010

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Computer Science

Advisor Department

Electrical and Computer Engineering

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