Research Notes #4

Overall algorithm design will consist of:

o Following an open-loop sequence of drone movement steps (up,
down, right, left, forward, backwards, turning)
Steps determined from Figure 1 and fine-tuned by manual
control
o Between every step, check to see if orientation (turn) and
position (x,y,z) of the drone is within certain bounds of what we
expect
If not, then correct for the error
Figure 12 shows the closed-loop sequence of steps for knot tying
procedure

Figure 13 and 14 shows the orientation of the drone after each step in
the sequence
o Error checking must check if orientation is as expected

o Figure 13 shows stable orientation approach where drone always

faces forwards unless another orientation is necessary for
movement
Advantages is that this makes positional movement very
consistent and simple since movement directions is
relative to orientation
Disadvantage is that tension of the rope may cause use to
need to correct orientation often
o Figure 14 shows dynamic orientation approach where drone
always faces such that it is pulling the rope
Advantage is that this aligns the effects of tension with
what our desired orientation is; we will need to fix
orientation less
Disadvantage is that since positional movement is relative
to orientation, path planning must take this into
consideration
o Leaning towards approach in Figure 14
Input will be from two cameras that capture a side image and a top
image
o Side camera will capture (y,z) coordinates
o Top camera will capture (x,y) coordinates
o Together we can get (x,y,z) coordinates of drones and other
objects in the system
o Top camera can use (x,y) coordinates to determine the
orientation (angle) of the drone)
Figure 10 shows expected top camera shot with position of each object
in system modelled

Figure 11 shows expected side camera show with position of each

object in system modelled

Figure 15 shows how x,y coordinates can be used to determine

orientation of drone

o While position of objects in system will be determined by

centroid of a marker, angle can be determined by centroid of two
markers (ex. green at center of drone, blue at top of drone)

Other considerations: we use an in computer model to determine

where string hanging on poles are (this is another limitation to our
movement)

Procedure outline:
o Follow step in open-loop movement sequence
o Use camera to get (x,y,z) input of drone and angle of drone
o Check if they are off from expected
If so, correct
o Return to step 1