This suite of projects showcases the integration of advanced control algorithms with the MODAL AI VOXL2 m500 drone, focusing on diverse flight patterns and autonomous navigation using Apriltags. Each project highlights a unique aspect of drone navigation and control, leveraging the capabilities of ROS2 and PX4.
Overview
In this project, we modified the offboard_control C++ code from the px4_ros_com ROS2 package to enable the drone to perform a circular-helical trajectory while keeping its heading oriented towards the center of the circle. This dynamic flight pattern combines vertical and horizontal movements to create a 3D helix path.
Features
Circular-Helical Trajectory: The drone navigates a helical path, maintaining a constant radius in the horizontal plane while ascending or descending.
Heading Control: The drone continuously adjusts its yaw to face the circle's center, ensuring optimal orientation during flight.
Parameter Customization: Users can adjust trajectory parameters, including the radius, altitude change rate, and speed, providing flexibility in flight patterns.
Overview
This project involved developing a system where the MODAL AI VOXL2 m500 drone tracks an Apriltag placed on the ground. The drone follows the tag's movements and remains stationary if the tag moves out of sight, ensuring consistent tracking behavior.
Features
Continuous Tracking: The drone dynamically adjusts its position to follow the Apriltag as it moves across the ground.
Stationary Behavior: When the Apriltag is out of sight, the drone halts its movement, waiting until the tag is detected again.
Prerequisites
MODAL AI Drone with Apriltag detection capability.
ROS2 framework for real-time control and feedback.
Overview
In this project, the drone utilizes Apriltags as waypoints for autonomous navigation. The drone is programmed to recognize and navigate towards multiple Apriltags sequentially, enabling complex flight paths based on tag positions.
Prerequisites
MODAL AI Drone equipped with Apriltag recognition software.
ROS2 and PX4 integration for seamless control and navigation.
Features
Waypoint Navigation: The drone autonomously flies between predefined Apriltags, following a planned route based on their positions.
Autonomous Control: The system ensures the drone can independently navigate without direct human input, enhancing its capability for tasks such as surveillance or delivery.
These projects illustrate the practical application of advanced drone control techniques and autonomous navigation:
Enhanced Flight Control: The circular-helical trajectory project demonstrated the drone's ability to execute complex 3D flight patterns with precise heading control.
Robust Tracking Capabilities: The Apriltag tracking project showcased the drone's capacity to maintain visual contact with moving targets, a critical feature for applications such as search and rescue.
Autonomous Navigation: The waypoint navigation project highlighted the drone's potential for autonomous operations, paving the way for tasks requiring minimal human intervention.
Through these projects, we developed a comprehensive understanding of drone control systems, the integration of ROS2 with PX4, and the practical deployment of autonomous navigation algorithms. These skills are crucial for advancing drone technology in various sectors, including logistics, surveillance, and environmental monitoring.