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Project Description
This project was carried out as part of the Aerial Robotics course at EPFL, Spring 2024. The final project consists of a path for the drone to traverse. The task was first implemented as a simulation on Webots, and then in real life using the Crazyflie drone.
Crazyflie drone Bitcraze
Mapping
Drone sensors :
An optic-flow sensor and a downward-range finder the drone can track its movements
4 range sensors : front back left and right.
Simulation Task overview
The simulation arena is shown in the figure. Your task is composed of multiple phases:
The drone takes off from a take-off pad placed within the starting region.
Thanks to the optic-flow sensor and a downward-range finder the drone can track its movements and find the landing pad in the landing region.
Once the landing pad is found, the drone has to precisely land on it.
Upon successful landing, the drone takes off, flies back and lands on the take-off pad.
In the whole arena, there will be a few obstacles of previously unknown dimensions which can be detected with the multiranger deck. Your developed algorithm should allow the drone to avoid any collisions.
Note :
The center positions of the take-off and landing pads are randomly assigned within the respective starting and landing regions.
The origin and the coordinate system for your reference are indicated in the figure above. The Z coordinate is directed upwards (out of the page).
The pink square has dimensions of 0.4 x 0.4 x 0.1 meters and its center location is also randomly assigned within the pink region highlighted in the above figure.
A maximum time limit for your run in simulation is set at 240 seconds. Only the phases which you have completed up to this cutoff time will determine your grade for this task according to the metrics defined below.
Real VS Simulation
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