Our project's task was to assist Lincoln Laboratory in preparation for the future automation of a quadrotor UAV system. We created an interface between the quadrotor and ROS to allow for computerized-control of the UAV. Tests of our system indicated that our solution could be feasible with further research. In the next phase of the projects, we created a localization system automate take-off and landing in future mission environments by altering the augmented reality library, ARToolKit, to work with ROS. We performed accuracy, range, update rate, lighting, and tag occlusion tests on our modified code to determine its viability in real-world conditions. We concluded that our current system would not be a feasible due to inconsistencies in tag-detection, but that it merits further research.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Berard, Brian Matthew
• Petrie, Christopher J
• Smith, Nicholas A

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-102010-111611

Advisor

• Michalson, William R.
• Heineman, George T.

Year

• 2010

Center

• MIT Lincoln Laboratory-Lexington, Massachusetts Project Center - MQP

Sponsor

• Byron Stanley, Mike Boulet

Date created

• 2010-10-20

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright