Data-Driven Control for Agile Flight in a Confined Space

C++, Python, ROS2/ROS, Aerial Robots, Motion Planning, Computer Vision, Dynamic Systems

Overview


Personal Motivation

MetaFly by Bionic Bird

How hard is it to fly this thing?


System Design

Transmitter - Feedforward

Fig. x. Schematic for the electronically controlled transmitter module for a MetaFly.

Motion Capture - Feedback

The Closed Loop

Skip to Control Architecture which discusses the various control strategies that work.


Experiments

Screw Trajectory

Data Collection


Control Architecture

Feedback Altitude Control

Fig. x. Block diagram representation of the altitude (z) controller.

Feedback Roll Control

Fig. x. Block diagram representation of the roll (α) controller.

Feedback Turning Radius Control

Fig. x. Block diagram representation of the turning radius (R) controller.

Feedback Yaw Control

Fig. x. Block diagram representation of the yaw (γ) controller.


Motion Planner


Negative Results and Discussion


Acknowledgements

Thanks Jake, for mentoring me throughout this project, and for being so nice. You’re someone I can really talk to :)

Thanks Davin, for helping me build a totally epic DRONE CAGE!!

Thanks Drew, for helping me set up and debug the OptiTrack system.


This Post is under construction 🛠️

Building a perfect portfolio from the ground up is a demanding process. Over the coming weeks, I will be adding more information about my personal and professional projects. If you’re interested, please check back on July 30th, 2024. Your curiosity is greatly appreciated :)

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