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Project Info:
The MIT Design Lab is developing a drone-rover hybrid system to inspect the inside of fuel tanks for safety in partnership with ENI. A key function of the system is the ability for the drone to detach from the rover and autonomously land on the rover after inspection. I designed the flight control system that allowed the quadcopter to land autonomously, and both wired the flight computer and wrote the flight control software.
The system used a monocular camera facing down towards an ARUCO code located on the rover. The drone was able to determine its pose by determining the relative position of the ARUCO tag and the quad. Throughout the project, I tried using various computer configurations, including Raspberry Pi and Odroid companion computers and Pixracer flight controllers.
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