Skip to content

Karthik Nayak daily progress report

Jump to bottom
Karthik Nayak edited this page Jun 19, 2018 · 5 revisions

Date : 24 May 2018 (Day 1)

Date : 25 May 2018 (Day 2)

  • Got familiar with ROS Topics like rqt_graph, rostopic and the various commands associated with it.
  • Understood the overall flow of information in an ROS environment and to extract the information relevant for our study and analysis.
  • Started with task 0 of Chaser Drone.

Date : 26 May 2018 (Day 3)

  • Completed task 0 of chaser drone.
  • Understood how whycon for efficient marker based localisation.
  • Started task_1 of Chaser Drone.
  • Understood how to carry out remapping in .launch file.
  • Went through the details of Pluto Drone.

Date : 28 May 2018 (Day 4)

Date : 29 May 2018 (Day 5)

  • Started task_1_2 of chaser drone.
  • Simulated hit and error method of PID tuning for localisation of AR Drone on Gazebo.
  • Started working on Ziegler-Nichols method of PID tuning.

Date : 30 May 2018 (Day 6)

  • Got the pluto drone. *Installed the necessary packages required to fly the pluto drone.
  • Camera calibration and hardware testing of drone

Date : 31 May 2018 (Day 7)

  • Started coding to implement localisation of a drone at a given point.

Date : 1 June 2018 - 5 June 2018 (Day 8,9,10,11,12)

  • Faced lot of Hardware related problems, spent time in trying to rectify it. --

Date : 6 June 2018 (Day 13)

  • Prepared the progress presentation 1 ppt.
  • Were able to make the pluto drone fly.

Date : 7 June 2018 (Day 14)

  • Briefed the gathering at progress presentation-1 of our progress.
  • Achieved localisation of Pluto X drone using hit and try PID

Date : 8 June 2018 (Day 15)

  • Started working on designing a better PD architecture.
  • Successful in stabilizing the drone.
  • Discovered there existed steady state error

Date : 9 June 2018 (Day 16)

  • Started designing a PID architecture.
  • Faced lot of challenges in handling the KI constant.

Date : 11 June 2018 (Day 17)

  • Partly successful in designing a complete PID.
  • Started with the concept of auto-tuning.
  • Referred various research papers for the concept of auto-tuninng.

Date : 12 June 2018 (Day 18)

  • Selected Ziegler-Nichols based approach of auto-tuning.
  • Started coding to implement the algorithm.
  • Hit a roadblock , decided to slightly modify the approach.

Date : 13 June 2018 (Day 19)

  • Referred aurduino pid autotuning library.
  • Wrote a code to implement the same.
  • Tested it on Pluto X Drone.
  • Got positive results.

Date : 14 June 2018 (Day 20)

  • Improved the auto-tuning code.
  • Tested the consistency of the outputs.
  • Results were encouraging.

Date : 15 June 2018 (Day 21)

  • Combined the auto-tuning concept and PID logic to generate the entire structure of the project.
  • Tested it on Pluto X.
  • Results were good.

Date : 16 June 2018 (Day 22)

  • Found some flaws in the PID logic.
  • Understood the use of KI in discarding the steady state error.
  • Implemented an improved PID.
  • Results were much better than previous versions.

Date : 18 June 2018 (Day 23)

  • Simulated the entire auto-tuning and PID logic on AR-Drone in Gazebo.
  • Successfully simulated wavepoint navigation.
  • Attended the workshop on innovative and creative thinking .

--

Clone this wiki locally