Drone vision hovering Project

Drone code for flight tests in an ICUAS 2016 paper. Vision detecting a red circle on ground. Controlling drone to hover on the red circle.

Citation

Bo Shang, Jianxin Liu, Tiebiao Zhao, and YangQuan Chen. Fractional order robust visual servoing control of a quadrotor UAV with larger sampling period. In 2016 International Conference on Unmanned Aircraft Systems (ICUAS), pages 1228-1234. IEEE, 2016.

@inproceedings{shang2016fractional,
  title={Fractional order robust visual servoing control of a quadrotor {UAV} with larger sampling period},
  author={Shang, Bo and Liu, Jianxin and Zhao, Tiebiao and Chen, YangQuan},
  booktitle={2016 International Conference on Unmanned Aircraft Systems (ICUAS)},
  pages={1228--1234},
  year={2016},
  organization={IEEE}
}

Hardware Settings

Odroid, camera, USB Wi-Fi dongle mounted on a 3DR DIY platform.

Software Prerequisites

Adding repos;

Python, pip, dronekit 2.8

pip install pymavlink

pip install pyserial

First Run

Test baudrate:

screen /dev/ttyUSB

cd scripts

python objtrack-fopi.py

Visit: http://192.168.0.102:8081/ to get the GUI. (192.168.0.102 needs to be changed to the drone's IP address.)

Thank the project of ardupilot-balloon-finder

Code meant to be run on an Odroid to allow an ArduCopter Pixhawk based multicopter to find red balloons for Sparkfun's AVC 2014 competition

Installation instructions can be found here: http://dev.ardupilot.com/wiki/odroid-via-mavlink/#Red_Balloon_Finder