5/16/2023 0 Comments Pandora drone station![]() The I value is integral and represents the past or historic error in the system. If the drone is very far from the target, it must react strongly to bring it back to the target. The P value is proportional and represents how far the drone is from the target. The tuning of these values is critical for the drone to respond correctly without overshooting or causing other bad behavior like oscillations.įor each axis of the drone's movement, there are 3 values to adjust P, I, and D. A PID control loop has multiple values that can finely tune how the drone should respond to errors in it's location. We can determine these commands using a PID control loop. The system must calculate the appropriate commands to make the drone correct its position errors and try reach the target location. Once we know the actual location of the drone and a desired location, we need to give the drone instructions to fly it autonomously. A webcam is located in the landing pad to view the drone flying above. The AruCo library is used to estimate the location of a small tag on the bottom of the drone. We selected computer vision to track the drone position because it is inexpensive compared to other sensor options. For cheaper indoor drones, they have no sense of location so we need to provide this information to the control system. Most advanced drones use GPS to accomplish this. To fly a drone autonomously, you need to know the actual location of the drone and a target location. ![]() I am focusing on just the landing portion of the problem. ![]() In a commercial application, the drone would use other sensors to fly autonomous missions before the landing. In this case, I am using an inexpensive indoor drone flown manually by a person before the autonomous landing procedure takes over control. An intelligent landing pad that can detect a drone flying overhead and take control to autonomously land the drone and recharge it. ![]()
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