Parrot Sentry Drone

Our project goal was to create a robot that can hover stationary over a given location,
until a person with a badge wants to pass the location it, at which time it will move away from
the location until the person passes. Once the person passes, the robot will move back to its
original location. We used the Parrot AR Drone and built our code off of the existing codebase
for the robot. We used the Speeded Up Robust Features (SURF) algorithm to compare an image
of the badge to the image fed from the camera and determine if the badge has been presented to
the robot. We used a logistic regression of our training data in our testing. We gave movement
commands to the robot based on a state machine where the number of times the robot moved was
stored and when no badge was present, the robot would reverse the movements it took. We also
used a colored place marker on the ground to indicate the point where the robot would hover
over, and used a color filter to allow the robot to make fine adjustments to return to the point by
directing it to the center of the marker.

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• Davis
• McGlade