Assignment - Gazebo simulation with hector_quadrotor
Requirements - The following are the requirements of this project:
1. This projects shall develop a simulation environment to develop and test automated approaches to power line inspection and line following using a multirotor unmanned aircraft.
2. The simulated environment shall include minimum of three power poles as a segment of a power line network.
3. The simulation environment shall be set up using Robotic Operating System (ROS Indigo or later) running on Ubuntu 14.04 LTS or later. The quadrotor used is hector_quadrotor.
4. The quadrotor shall use a minimum of 2 sensing modalities to track the wire. This include a 2D (camera) and 3D sensor (3D info can be used from the solidworks model, we don't have to have a sensor).
5. The image processing should be done using Hough Transform so that lines can be detected using the front facing camera of the drone.
6. The quadrotor should start at the base of the powerpole and inspect the powerpole using the front facing camera, then proceed to detect the wires from the side (using hough transform to detect the wires)
7. In the solidworks model provided, the wires are just lines. These lines need to be made into wires so that the camera can detect it. The given model can be tweaked slightly, however the length should remain the same.
8. The quadrotor shall have 3 modes: Line following, transition and orbit mode. Line following mode shall track and follow the wire. The transition mode changes the quadrotor altitude and position from the line following mode to hover over the power pole (The idea of this is to get a smooth transition from line following mode to orbit mode). During the orbit mode, the quadrotor shall do one revolution of the power pole.
- During any of the three modes, the quadrotor is controlled by a real time closed loop feedback control system.
- The feedback is given by the 2D and 3D sensors on-board.
9. The clearance between the quadrotor and the wire and the pole shall be no less than 0.5m at any time during any of the three modes.
10. Wind shall be added to the simulation as an external disturbance force. The wind direction shall be set to 20o with a variation of ±5o. The wind speed shall be between 0 and 10 knots with a variation of ±10%. (This step is optional).
Attachment:- Assignment Files.rar