Team project for the Robotics course at Duke: ME555-Advanced Robotics System Design.
The full presentation link: https://docs.google.com/presentation/d/1sL0ZcYLcJmup_AzdfgekT4j81gzFoDa4-MBUbZfyS4c/edit#slide=id.g56ada96fe9_2_61
The full report link: https://www.overleaf.com/5374986177pgjhcvtqrpdj
Based on Aruco Marker system, use opencv marker detection algorithm to get the relative distance to the marker in x,y,z three dimensions.
Taking PID as our basic control algorithm, we adapted two control schemes:
- simultaneous x,y,z velocity control
- only control x,y velocity before reaching to a certain range of the marker and then incorporate z control into the whole control system.
Based on kalman filter, we only estimate the relative distance in x,y.
Integrate the above modules on ROS framework and take simulation test in Gazebo world.
