This project is all about developing a control algorithm, which will allow a given quadcopter with a camera and ROS support to execute the following stages:
Takeoff, identifying it’s position relatively to a window shaped obstacle, correcting it’s position error, going through the obstacle, turn around (180 degrees), fly back through the obstacle and land.
The algorithm was developed in python.
In this project, we have implemented an image processing system using the video stream from the quadcopter. In addition, we have analyzed the different ingredients of the position error and built a control system which corrects these errors.
The main conclusion of this project is that building an actual control system (which controls a quadcopter in this case), has more aspects than a theoretical control system, and has more considerations we needed to think about.