Project - Lakshya Priyadarshi : [email protected]
B.Tech 3rd Semester, Computer Science & Engineering
Institute of Engineering & Technology, Lucknow
Overview- Chaser Drone based on ROS, ROS Whycon technology, simulated in Gazebo real-world physics simulator
Whycon employs flood-filling image-processing algorithm to detect markers
Proportional–integral–derivative control algorithm employed to control drone motion
Contributors : Lekhraj Singh (ECE), Yaduveer Singh (EE)
Design - Robot simulation in real-world environment simulator Gazebo
Codes + Simulator are integrated with ROS Core ( Robotics Operating System )
All nodes are published under Subscriber/Publisher scheme of ROScore / ROSTopic
The robot motion parameters are six-dimensional phase space [x,y,z,p_x,p_y,p_x]
Algorithm applies feedback control to linear velocity [x,y,z] and angular velocity [th_x, th_y, th_z]
Proportional–integral–derivative control algorithm employed to control drone motion
A proportional–integral–derivative controller is a control loop feedback mechanism widely used in industrial control systems and applications requiring continuously modulated control. A PID controller continuously calculates an error value e ( t ) as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively) which give the controller its name. In practical terms it automatically applies accurate and responsive correction to a control function.
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