Proj. Manag.

Gantt Chart

Project Objectives

High Priority Objectives

• • Achieve single drone trajectory control based on robust infrared-based localization algorithm 

Second Priority Objectives

• • Achieve trajectory control on multi-agent system

Other Constraints and Issues

• • Determination of orientation is also desirable

WOW Design Solution

• • Formation control of multiple drones

Risk Reduction Strategy

• Localization: The HTC Vive system relies on infrared periodic scans, and we expect errors to be introduced by ambient light. The strategy against it is to apply an algorithm called Kalman filter.

• Orientation Determination: The current approach toward determining orientation is by putting two infrared receiver on the drone. However, good orientation may require extremely precise localization because the drone is not very big. We need to verify how good the localization is, and determining if we should change our approach.

Intermediate Milestones

Identifying meaningful intermediate milestones is a critical for effective project management. Together with your sponsor identify such milestones, and specify specific performance requirements you aim to meet at each milestone. 

• • Localization.  using HTC Vive system

    • supply research for infrared sensor: diodes, high-pass filter, amplifier

    • circuitry for sensor

    • measurements

    • signal processing: Kalman fiters

    • determine orientation

  • Flight Trajectory Control.  primarily using PID 

    • control to stay on a single waypoint

    • algorithm to segmentize a trajectory into waypoints

    • algorithm for smooth continuous movements over multiple waypoints

  • Formation Control