/ee4308_project_2

Autonomous Drone Path Planning, EKF Pose Estimation, Cubic Spline Implementation

Primary LanguageC++

EE4308 Project 1 Lab

Team Members:

  1. Lin Zhicheng [A0199536L]
  2. Rishab Patwari [A0184456W]
  3. Ong Jia Yuan [A0201643U]
  4. Nguyen Tuan Dung [A0201264W]

Project Tasks:

  1. Design a FSM and Generate Trajectories for Pure Pursuit in ee4308_hector/src/main.cpp
    • Use look-ahead distance or duration to gen targets from traj
    • Use Cubic Spline Trajectories & Predict the turtle's motion when generating these traj
    • Justify ALL Param


2. Design a PID motion controller in `ee4308_hector/src/move.cpp` - Satisfy all motion requirements above - Justify the GAINS used. Use data collected while using the ground truth for the hector

3. Program an extended Kalman Filter (EKF) to estimate the pose of the hector in `ee4308_hector/src/motion.cpp` - Justify and collect data for the noise values used - 4-man teams must implement - GPS - Magnetometer - Barometer - Sonar