Quadrotor Autonomous Flight and Obstacle Avoidance with Kinect Sensor

More info: hybrid.eecs.berkeley.edu This work is part of the STARMAC Project in the Hybrid Systems Lab at UC Berkeley (EECS department). hybrid.eecs.berkeley.edu Researcher: Patrick Bouffard PI: Prof. Claire Tomlin Our lab’s Ascending Technologies [1] Pelican quadrotor, flying autonomously and avoiding obstacles. The attached Microsoft Kinect [2] delivers a point cloud to the onboard computer via the ROS [3] kinect driver, which uses the OpenKinect/Freenect [4] project’s driver for hardware access. A sample consensus algorithm [5] fits a planar model to the points on the floor, and this planar model is fed into the controller as the sensed altitude. All processing is done on the on-board 1.6 GHz Intel Atom based computer, running Linux (Ubuntu 10.04). A VICON [6] motion capture system is used to provide the other necessary degrees of freedom (lateral and yaw) and acts as a safety backup to the Kinect altitude–in case of a dropout in the altitude reading from the Kinect data, the VICON based reading is used instead. In this video however, the safety backup was not needed. [1] www.asctec.de [2] http [3] www.ros.org [4] openkinect.org [5] http [6] www.vicon.com
Video Rating: 4 / 5

20 Replies to “Quadrotor Autonomous Flight and Obstacle Avoidance with Kinect Sensor”

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  2. @henryjunior38. Imagine this: mini turret attatched to a more stable, stronger version. Instant weapon of death. Also, imagine this: new mail delivery service that is automatically sent to a(n) address(es). With the kinect sensors technology, given it needs improvement, we could revolutionize the world.

  3. well aside from tacocopter, if it can deliver tacos it could probably also deliver other small items, such as mail or be used to carry stuff around factories. larger versions could carry larger objects or even people, and would be more manueverable than a regular helicopter.

  4. One word… Tacocopter. No lie, there is a company (called… Tacocopter) in San Fransisco that is testing using flying robots to deliver freshly made tacos. You pay over the internet or phone and give them your GPS coordinates and a few minutes later a quadrotor flys by and makes a delicious airdrop.

  5. yes its cool and everything i know i cant build something like that but what are its applications in the real world? In what is this going to be useful exactly? i mean its a lot of fun to watch it fly around but i was just wondering if ill see it one day doing some change. thanks in advance for the answers.

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