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Integration of a tethered drone on a walking excavator
Integrate a tethered drone on walking excavator HEAP
Keywords: Drones, excavation, mapping
On our walking excavator HEAP we are researching autonomous driving and excavation. Current and accurate maps of the surroundings are of vital importance. One idea to achieve this, is through the use of drones. Conventional drones need constant control and cannot stay airborne for very long times. In recent years, several tethered drones receiving power and downlinking their data through a cable to the ground came to the market.
In this project, we aim to enable a tethered drone to autonomously takeoff and land from the roof of our excavator HEAP. The recorded data can then be used in mapping and localization frameworks depending on the student's interests.
On our walking excavator HEAP we are researching autonomous driving and excavation. Current and accurate maps of the surroundings are of vital importance. One idea to achieve this, is through the use of drones. Conventional drones need constant control and cannot stay airborne for very long times. In recent years, several tethered drones receiving power and downlinking their data through a cable to the ground came to the market.
In this project, we aim to enable a tethered drone to autonomously takeoff and land from the roof of our excavator HEAP. The recorded data can then be used in mapping and localization frameworks depending on the student's interests.
Compulsory work packages:
- Choose a suitable drone
- Design a mounting for the drone
- Keep drone in position relative to excavator
- ROS integration (get image and sensor data from IMU into our software)
Optional work packages depending on interests:
- Improve drone sensor package
- Control drone through our software
- Co-localization
- Mapping with recorded data
Compulsory work packages:
- Choose a suitable drone - Design a mounting for the drone - Keep drone in position relative to excavator - ROS integration (get image and sensor data from IMU into our software)
Optional work packages depending on interests:
- Improve drone sensor package - Control drone through our software - Co-localization - Mapping with recorded data
- CAD experience
- Programming experience
- Experience with drones is a plus
- CAD experience - Programming experience - Experience with drones is a plus
- Simon Kerscher, simon.kerscher@mavt.ethz.ch, LEE H 316
- Ruben Mascaro, rmascaro@ethz.ch, LEE H 309
- Simon Kerscher, simon.kerscher@mavt.ethz.ch, LEE H 316 - Ruben Mascaro, rmascaro@ethz.ch, LEE H 309