This is part of a series of posts outlining the evolution of my GroundHog hexacopter into a multi-role UAV. It is based on a Pixhawk flight controller with a Jetson TX2 companion computer. It has now been fitted with an Intel RealSense D435 depthcam.
Continue reading “First Flight: Intel RealSense D435 Depth Camera on Jetson TX2”
Part of a series of videos and blogs tracking the development of The Groundhog, which was entered into the MAAXX Europe 2017 competition earlier this year.
Having successfully tested the re-written code to follow straight lines using velocity vectors for control and NED space mapping for line detection, we test it around a 50m track comprising 50mm wide red webbing – and we speed it up a bit as well.
The test turned out to be quite successful, with following speeds of 1.5m/s achieved under autonomous control provided by an on-board Raspberry Pi 3. This is significantly faster than the winning UAV in MAAXX Europe this year, which is quite pleasing!
The YouTube video shows both on-board and off-board camera footage, the former demonstrating the roaming regions of interest used by OpenCV to maintain a lock under varying lighting conditions.
Continue reading “Groundhog UAV curved line following”