Autonomous flight and computer vision system for a quadcopter in ROS 2
Abstract
A software in the loop framework is proposed and implemented, focused on the simulation of a gate detection algorithm via computer vision, based on morphological operations for color segmentation, and a flight mission algorithm with trajectory tracking via waypoints, for a virtual autonomous quadcopter. In addition, a state-of-the-art open-source software set is integrated to validate the operation of the proposed algorithms within a flight circuit developed in a 3D simulation environment. It is observed that the performance of the artificial vision algorithm is acceptable under ideal conditions and at short distances, and that the quadcopter is capable of completing the flight circuit using the proposed methodology for trajectory management.Downloads
References
ArduPilot-Dev-Team. (2022). Ardupilot. https://ardupilot.org. Accessed: 2022-02-17.
Foehn, P., Brescianini, D., Kaufmann, E., Cieslewski, T., Gehrig, M., Muglikar, M., and Scaramuzza, D. (2020). Alphapilot: Autonomous drone racing. arXiv preprint arXiv:2005.12813.
Guerra, W., Tal, E., Murali, V., Ryou, G., and Karaman, S. (2019). FlightGoggles: Photorealistic sensor simulation for perception-driven robotics using photogrammetry and virtual reality. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE.
Johnson, E. (2018). Iq simulations. https://github.com/Intelligent-Quads/iq_sim.
Johnson, E. (2022). Flight modes. https://ardupilot.org/copter/docs/flight-modes.html.
Lorenz Meier, Andreas Antener, t. (2021). Mavlink developer guide. https://mavlink.io/en/. Accessed: 2022-01-04.
Madaan, R., Gyde, N., Vemprala, S., Brown, M., Nagami, K., Taubner, T., Cristofalo, E., Scaramuzza, D., Schwager, M., and Kapoor, A. (2020). Airsim drone racing lab. In NeurIPS 2019 Competition and Demonstration Track, pages 177–191. PMLR.
Moon, H., Sun, Y., Baltes, J., and Kim, S. J. (2017). The iros 2016 competitions. IEEE Robotics and Automation Magazine, 24(1):20–29.
Open-Robotics (2014). Gazebo: Robot simulation made easy. http://gazebosim.org/.
Open-Robotics (2021a). Open robotics. https://www.openrobotics.org/.
Open-Robotics (2021b). Ros 2 docuumentation: foxy documentation. https://docs.ros.org/en/foxy/index.html.
OpenCV-Team (2021). Opencv: Introduction. https://opencv.org. Accessed: 2022-02-17.
Ramírez-Linarez, A. (2022). Axolotsil. https://github.com/MOVAX19/ AxolotSIL.
Rojas-Perez, L. O. and Martinez-Carranza, J. (2020). Deeppilot: A cnn for autonomous drone racing. Sensors, 20(16):4524.
Shah, S., Dey, D., Lovett, C., and Kapoor, A. (2017). Airsim: High-fidelity visual and physical simulation for autonomous vehicles. In Field and Service Robotics.
Song, Y., Naji, S., Kaufmann, E., Loquercio, A., and Scaramuzza, D. (2020). Flightmare: A flexible quadrotor simulator. In Conference on Robot Learning.
