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    Quadrotor Autonomous Flight and Obstacle Avoidance with Kine

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    P_grillo68

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    This work is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department). http://hybrid.eecs.berkeley.edu/
    Our lab's Ascending Technologies [1] Pelican quadrotor, flying autonomously and avoiding obstacles.
    The attached Microsoft Kinect [2] delivers a point cloud to the onboard computer via the ROS [3] kinect driver, which uses the OpenKinect/Freenect [4] project's driver for hardware access. A sample consensus algorithm [5] fits a planar model to the points on the floor, and this planar model is fed into the controller as the sensed altitude. All processing is done on the on-board 1.6 GHz Intel Atom based computer, running Linux (Ubuntu 10.04).