CrazyFlie

Programming the Crazyflie was a part of my internship in Indian Institute of Science, Bangalore in the Autonomous Vehicles Lab under Prof. Ashwini Ratnoo. Our motivation was to integrate the ROS framework with MATLAB Simulink interface for quick testing for UAV guidance algorithms.

My Contributions Highlights:

• Wrote a modular code in ROS interfaced with MATLAB to calibrate the IMU sensors and perform sensor fusion to get accurate data
• Tuning of the PID controller for roll and pitch of the crazyflie and implementing control law partioning scheme for yaw for faster control
• Aided in writing code for pure-pursuit controller and Haus algorithm in MATLAB Simulink to test the effectiveness of the sensor fusion data

Robot Type: Crazyflie 2.0 Lab: Autonomus Vehicles Lab, under Dr Ashwini Ratnoo
Applications: Can be used in testing while researching for new Path-Planning Algorithms Personal Role: Project Assistant, May-July, 2018