Welcome to the documentation Wiki of Bambi
An introduction needs still to be made. Some links to youtube videos of similar projects:
Contents
BAMBI INSTALLATION REQUIREMENTS
- Install script used for installation (also Gazebo, which is not necessary on RaspberryPI): [https://dev.px4.io/en/setup/dev_env_linux.html#gazebo-with-ros]
-
sudo apt install libxml2-dev libxslt-dev python-dev python-rosinstall ros-kinetic-geodesy ros-kinetic-control-toolbox -
sudo -H pip install future lxml pykml libgeographic-dev
Project Bias Point
The projects aims to develop an automated solution for the very specific use-case. The already developed and highly stressed concept of UVA is the starting point of the project. So we won't develop new techniques regarding these basic issues. Therefore we start with a DRONE that is able to:
- Hold a desired altitude
- Keep / fly to a desired GPS position
- Compensate external disturbances
- Provide ground communication for troubleshooting and development
To achieve this we use the following basic hardware:
- Pixhawk flashed with PX4 flight stack (a featuring open source flight controller)
- NEO-M8n (GPS)
- 3DR telemetry radio 433Hz (to have a serial link to the ground station and communicate to the flight board trough Mavlink protocol)
- Video TX Ts5823/5828 (300/600mW video transmitter 5.8GHz)
- Video RX 5.8gHz av output or otg (uvc)
- OBSOLETE Sonar (WT81B003-0202 (Ultrasonic long distance sensor))
- LidarLite V3 (altitude distance sensor) (Datasheet)
- TFmini lidar (Datasheet)
Mimmo
Simulation
Project Milestones
- Georeferenced Orthophoto
- Image Processing (obtain the contour of the field)
- Automated Flight Route Planner
- Obstacle Avoidance Flight Mode
- Thermal Camera Processing
- Bambi Saving Workflow (e.g. mobile apps)
Project LOG
Intensive project activity log (see Activity Log):
- Day 1
- Day 2
- Day 3
- Day 4
- Day 5
- Day 6
- Day 7
- Day 8
- Day 9
- Day 10
- Day 11
- Day 12
- Day 13
- Day 14
- For the last 3 days, see Activity Log
See also Longterm TODOs
- PX4 Development Guide and Architectural Overview
- How to choose the best embedded processing platform
- Gui and py script to control YI Cam (e.g. shoot trigger)
- how to configure PI cam on ubuntu
- ETHZ Detection and tracking of possible human victims using thermal and visual cameras in real time
- Reference: Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue (Elmar Mair)