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3D Surface Following with an Overactuated MAV
Future applications of MAVs involve near-surface contactless inspection with high precision. This task is challenging due to complex terrain in real world environments. This project involves local environment perception, and control/path-planning to avoid collisions while maintaining precise distanc
This project aims to tackle land-mine eradication by means of a metal detector mounted on an overactuated MAV. The sensor requires a specific distance close to the ground, and any collision would be disastrous. Perception of the local terrain can be used for local replanning of a coverage trajectory to avoid obstacles and maintain orientation to the surface normal.
This project aims to tackle land-mine eradication by means of a metal detector mounted on an overactuated MAV. The sensor requires a specific distance close to the ground, and any collision would be disastrous. Perception of the local terrain can be used for local replanning of a coverage trajectory to avoid obstacles and maintain orientation to the surface normal.
In this project the student will:
- Identify sensors required for surface following and obstacle detection.
- Update a map of the local vicinity based on perceived complex surfaces.
- Implement approach for maintaining distance to a surface while staying close to a desired coverage trajectory, and avoiding collisions.
- Test with overactuated drone in complex unmapped terrain- -
In this project the student will: - Identify sensors required for surface following and obstacle detection. - Update a map of the local vicinity based on perceived complex surfaces. - Implement approach for maintaining distance to a surface while staying close to a desired coverage trajectory, and avoiding collisions. - Test with overactuated drone in complex unmapped terrain- -
- Experience programming in c++
- Knowledge of ROS desired
- Experience with computational geometry or optimization an asset
- Experience programming in c++ - Knowledge of ROS desired - Experience with computational geometry or optimization an asset