Quadrotor 3D Intuitive Flying
| Thesis title in Czech: | 3D intuitivní řízení quadrotoru |
|---|---|
| Thesis title in English: | Quadrotor 3D Intuitive Flying |
| Key words: | quadrotor, R-UAV, UAV, ovládání, vzdušný, drone, 3D pilotování, 3D myš, Novint Falcon, smartphone, gamepad, joystick |
| English key words: | quadrotor, R-UAV, UAV, control, aerial, drone, 3D piloting, 3D mouse, Novint Falcon, smartphone, gamepad, joystick |
| Academic year of topic announcement: | 2012/2013 |
| Type of assignment: | Bachelor's thesis |
| Thesis language: | angličtina |
| Department: | Department of Software and Computer Science Education (32-KSVI) |
| Supervisor: | RNDr. Tomáš Plch, Ph.D. |
| Author: | hidden - assigned and confirmed by the Study Dept. |
| Date of registration: | 10.03.2013 |
| Date of assignment: | 19.03.2013 |
| Confirmed by Study dept. on: | 23.04.2013 |
| Date and time of defence: | 16.06.2014 00:00 |
| Date of electronic submission: | 26.05.2014 |
| Date of submission of printed version: | 23.05.2014 |
| Date of proceeded defence: | 16.06.2014 |
| Reviewers: | RNDr. David Obdržálek, Ph.D. |
| Guidelines |
| Rotor based Unmanned Aerial Vehicle (R-UAV) is a robotic aerial platform capable of Vertical Take-Off and Landing (VTOL). It is commonly equipped with an even number of rotors - they are known as quadrocopters, hexacopters or octocopters. The multiitude of rotors allows the R-UAV extensive maneuverability and stability. The piloting interface is often derived from the common "two stick" interface known to radio controlled models of ships and airplanes and consits of two analogue or digital stick controllers, which can be moved in 2D. The movement of a stick affects a set of parameters (e.g. left stick is for movement forward and turning, right stick is for height control and sideways movement). This control paradigm proves to be hard to learn and master in the R-UAV domain.
The thesis focuses on utilizing the known platform of AR Drone to explore various available control mechanism over the manufacturers provided SDK. These control mechanisms range from the standard touch based application, game controllers (e.g. gamepad, joystick etc.), 3D mouse (3Dconnexion SpaceNavigator), and 3D navigation (Novint Falcon Haptics Controller) tools providing various degrees of freedom (i.e. 3 and 6) and 3 degrees of force feedback. As a result of the thesis, the student has to create a middleware or library to provide an interface between the control mechanism and the R-UAV. As a part of the thesis, the student has to create a set of simple navigation scenarios, to be able to compare the capabilities of the R-UAV controls for the newly used controllers and the already available. |
| References |
| Parrot, AR Drone Developers Guide 1.8 [https://projects.ardrone.org/attachments/download/365/ARDrone_SDK_1_7_Developer_Guide.pdf]
3D Connexion Developers manual http://www.novint.com/ |