Obstacle Avoidance System for Drone

Team Name:

Pixhawk and Quadcopter

Team Members:

Yihan Xu, CSE

Haoran Yu, CSE

Yi Xie, CSE

Michael Demirev, CSE

Name of Faculty Mentor:

Pai Chou

Project Poster:

https://docs.google.com/presentation/d/1l7MyXfDOLpXo4Ev9n7JWcKuUTORujAuf...

Project Presentation:

https://docs.google.com/presentation/d/1AIvOB1azOWntYV81tBTy3Yohm5A9g__l...

Project Report:

https://docs.google.com/document/d/1cyUgRugRCXjOFqP2y1onarP2NCO2eF7yd4XA...

Project description/objective:

This project is to develop an obstacle avoidance system for the quadcopter. Under the user control mode(stabilize mode,) the team want to prevent the quadcopter from running into an obstacle because of the user's fault operation. We achieve this goal by writing the program under control_stabilize file and let quadcopter land itself when it is too close to the obstacle. Under the automatic flight mode, we also design a conceptual algorithm, in which more complex condition is handled. The team uses pixhawk as the flight controller instead of the DJI flight controller.

Progress:

Weekly progress can be found in the project report.

Accomplishment:

1. We have written the program for the user control flight mode(stabilize mode.) When the obstacle is detected by the sonar, our code will take over control and the quadcopter will land safely. We have successfully tested this program in the  SITL simulator and we are working on the real field test currently.

2. We have designed conceptual algorithm for automatic flight mode(AUTO mode.) The details can be found in the project report.

Useful Link:

1. Basic information about pixhawk: http://ardupilot.org/copter/docs/common-pixhawk-overview.html

2. Basic information about mission planner: http://ardupilot.org/planner/docs/mission-planner-overview.html

3. Physical calculation we have accomplished: https://drive.google.com/file/d/1 GbY5tG5pyNIVniziOAuAWOFsdzlIPcS/view?usp=drivesdk