a.r drone navigation

A.R Drone Navigation

:// . . . . /~ / _ /http www cs bgu ac il yuvalko ARDrone Autopilot Main

Yuval Kovler Yuri Bakulin

Maxim Kirilov

So What is the Project about?• AR Drone – Quadrocopter with 2 video cameras (front & bottom) and Wi-Fi connectivity.

• We want to give the AR Drone the ability to autonomously navigate in a predefined route and recognize physical landmarks.

• Our Goal is to supply a simple, comfortable and a reliable framework.

Introduction

• Currently our focus is on agricultural applications such as pollination and/or decease identification in plants but there are many use cases.

• We’d like to perform jobs that currently consume a lot of time and manpower in an alternative low cost way.

The Problem Domain• One of the fundamental problems of mobile

robotics is to autonomously navigate a given route.

• Open Space Navigation.

The major components in our system are :

Stakeholders• The university researchers team and

students.

• Hard workers that do routine work and all their employees, (e.g. farmers etc…)

Functional Requirements• Image analysis.

• Deduction of navigation directions from navigation markers.

• Computer calculates the next steps of the AR Drone.

Non Functional Requirements• Speed- at least 0.25 m/sec

• Checkpoint detection- at least 90% of check point markers.

• The AR Drone path could be set in any open space.

Usage ScenariosUsage Scenario Number 1• Name: Start-up

• Pre-Conditions:• A Path has been marked.• The drone is placed at the starting point. 

• Steps:• The user starts the program.• The drone takes off.• The drone detects the path markers.• The drone flies along the path.• The drone reaches the end of the path and lands.

 • Exceptions:

• If at any point the drone doesn’t detect the path markers:• The drone turns 360 degrees in attempt to locate the markers.• If the marker is found the drone follows the path, otherwise it lands.

Usage ScenariosUsage Scenario Number 2• Name: Checkpoint detection • Pre-Conditions:• Use case “Start-up” is on-going.

 • Steps:• The drone detects a checkpoint marker.• The drone sends a message to the system identifying the

checkpoint.• The drone performs the callback operation received from

the system in response (currently - the drone hovers above the marker for a few seconds).

Questions???