Autonomous indoor waypoint navigation with a tricopter
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Uploaded by Willa1980 on Aug 30, 2009
Finally, it's done... My tricopter flies along a three-dimensional path without me doing anything. The waypoints are recorded by some sort of "teach in" (basically taking snapshots of different positions in space, the flightpath is hence calculated as the cubic interpolation between these snapshots).
Principle:
A web cam (mounted to the ceiling) tracks 4 IR-leds that are installed on the copter. My computer then calculates height, yaw, x & y shift of the copter, as well as velocities and accelerations in all directions. Commands are subsequently sent via a wireless serial link to the tricopter. I want to thank www.watterott.com very much for donating two XBee radio modules for the wireless RS232 link!
Watch these videos for more infos on the LED tracking procedure:
http://www.youtube.com/watch?v=OD6i_fkT1ZE
http://www.vimeo.com/5965644
http://www.vimeo.com/6333907
You can find the source code, PCB and some details on the design here:
http://shrediquette.blogspot.com/
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This is great stuff!
You mentioned the TowerPro n18a esc can be moded to be I2c, could you point me to a link to where the instructions are?
Also, I was able to find the TowerPro w18a esc on Hobbyking, do you think they are the same as n18a?
Nomoreidsleft 5 months ago in playlist More videos from Willa1980
really well done, congratulations on your accomplishment
kmdo86 1 year ago
very nice man
alohakepeli 1 year ago
Sehr cooles Video! Freut mich, dass alles so gut klappt!
Whats your next plan?
Andun123 2 years ago
Hi William,
very impressive video! You say: "Finally, it's done... ". Yes this is done, and works well, but I doubt the "finally". So I am looking forward to your further developments.
All the best to your projects,
gds
goedaschaugst 2 years ago