Repo for the project of the course Navigation and Guidance systems,part of the Master Degree in Robotics and Automation Engineering, attended at the University of Pisa.
All useful documentation is in the docs folder.
We developed some script to use the Crazyflie drone along with a Wand in a Vicon indoor motion capture system.
The main files are:
- wand_thread_onpos.py
- wand_obstacle.py
The Wand is used as a position-recording reference. The user will first move the Wand around for some time, then the quadcopter will take off and repeat the same trajectory.
This time the Wand works as an obstacle for the drone, tracked by Vicon thanks to the on-board LEDs. The drone will try to fly around a given setpoint, but if the obstacle is too close it will adjust its flight to avoid collision. If the obstacle is removed, the Crazyflie will once again travel towards the initial setpoint.