2018-07-0x Meeting 2

Agenda

GOAL: 3 WEEKS in AUGUST to finish it all

Project Status

• Flying Drone + LIDAR
• Next Step: ROS

Thesis

1. How to divide?
2. Title?
3. Scaletta?
4. Relatore / correlatore?
5. Submission Data / correction --> WHO?

Thesis Proposal

The idea is to divide the two major problems of the project:

1. Automatically take geo referenced photo, detect field and plan the path
2. Autonomous navigation algorithm for the UAV with Object Avoidance

Division Problems

• UAV Setup common for BOTH?
• Problem Description of BAMBI Rescue in BOTH?

Agricultural Field Detection and Path Planning for a UAV

1. Introduction
   1. Problem Description and Delimitations
   2. Goal: Autonomously create trajectory to scan a agricultural field
2. Methodology: Use state of the art technology to implement an automated solution
3. Geo Referenced Photo
   1. UAV Placement
   2. Shutter Impulse
   3. Lens correction
   4. (Contour detection)
4. Path Planning
   1. Physical Constraints
   2. Altitude Choice
   3. Motion Profiles
5. Simulations
   1. Sample Data
   2. Trajectory Outputs
6. Hardware and Components
   1. UAV Setup
   2. Sensors
      1. Altitude Control
   3. Design Choices
7. Experimental Evaluations
   1. Environmental Conditions
   2. Test Results
8. Conclusions and Discussion
   1. (Field Detection Quality)
   2. Trajectory Quality
   3. Future Work and Alternatives

Implementation of an autonomous navigation algorithm for the UAV with Object Avoidance

1. Introduction
   1. Problem Description and Delimitations
   2. Goal: Follow a predefined trajectory avoiding obstacles
2. Methodology: Use state of the art technology to implement an automated solution
3. Obstacle Avoidance Methods
   1. State Driven Solution
      1. Follow Obstacle Border
   2. Potential Field Solution
4. Simulations
   1. Gazebo
   2. Environmental conditions
5. Hardware and Components
   1. UAV Setup
   2. Sensors
   3. Rotational LIDAR
      1. Low Cost Design
      2. Implementation
6. Experimental Evaluations
   1. Environmental Conditions
   2. Test Results
7. Conclusions and Discussion
   1. Obstacle Handling Quality
   2. Future Work and Alternatives

Components

• Thermal Camera?
• Thesis is completed WHEN _____ ?

Results

Disponibile fino al 29 luglio e dal 15 agosto in poi. Scrivere a Marconi per relatore.