u/npc_xxx00

Hi guys. I was tasked with created a model for automatic UAV navigation through narrow spaces and openings.

I always create models and never worried about deployemnt and this is my project where I need keep the hardware and the deployment in mind. So I am kinda stuck.

My management was not daring enough to give me a drone and develop the model with it. instead I am using Ardupilot SITL in Gazebo Harmonic sim. Tbh, never heard of them before a week. So all of this like control theory, mavlink protocols are all new too me.

I created a window frame of sorts and decided to let my drone pass through it. This is my first minigoal. So I'd love to hear your suggestions and reference materials for:

Q1. What is best way to detect openings large enough to let the drone pass through it?

First, I tried canny edge detection using RGB feed but the contours on the world is throwing the detection off.

Then, I tried using depth sensor but the range at which it detects the window frame is sub par. Thought of fusing RGB and depth (heard from claude) but my colleague from Robotics team advised me not to get into that rabbit hole.

Now I trying to use LiDAR but having a tough time integrating that in my sdf file. And I am genuinely don't know how to rectify it.

Q2. How to control the drone precisely?

I don't know repeat myself. But I don't know control theory either. I really can't wrap my head around on the PID controller. I'd really would like to know how changes in various gains affect the system like P gain would let the drone sweep faster/slower (tbh idk).

My management specifically asked for MPC controller. So I'd like to how to implement that.

Q3. what to do to increase the agility/speed of the drone?

Not a immediate goal. But it's something my management expecting my model to achieve it.

I'd like to properly learn all of these but I am time constrained. My management is like "ask chatGPT and finish the model asap". So I'd appreciate if you recommend materials and references which will help me learn and implement sooner. Also your experienced suggestions are most welcome and appreciated.

Thanks in advance, guys

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Hi guys. I was tasked with created a model for automatic UAV navigation through narrow spaces and openings.

I always create models and never worried about deployemnt and this is my project where I need keep the hardware and the deployment in mind. So I am kinda stuck.

My management was not daring enough to give me a drone and develop the model with it. instead I am using Ardupilot SITL in Gazebo Harmonic sim. Tbh, never heard of them before a week. So all of this like control theory, mavlink protocols are all new too me.

I created a window frame of sorts and decided to let my drone pass through it. This is my first minigoal. So I'd love to hear your suggestions and reference materials for:

**Q1. What is best way to detect openings large enough to let the drone pass through it?**

First, I tried canny edge detection using RGB feed but the contours on the world is throwing the detection off.

Then, I tried using depth sensor but the range at which it detects the window frame is sub par. Thought of fusing RGB and depth (heard from claude) but my colleague from Robotics team advised me not to get into that rabbit hole.

Now I trying to use LiDAR but having a tough time integrating that in my sdf file. And I am genuinely don't know how to rectify it.

**Q2. How to control the drone precisely?**

I don't know repeat myself. But I don't know control theory either. I really can't wrap my head around on the PID controller. I'd really would like to know how changes in various gains affect the system like P gain would let the drone sweep faster/slower (tbh idk).

My management specifically asked for MPC controller. So I'd like to how to implement that.

**Q3. what to do to increase the agility/speed of the drone?**

Not a immediate goal. But it's something my management expecting my model to achieve it.

I'd like to properly learn all of these but I am time constrained. ~~My management is like "ask chatGPT and finish the model asap"~~. So I'd appreciate if you recommend materials and references which will help me learn and implement sooner. Also your experienced suggestions are most welcome and appreciated.

Thanks in advance, guys

Hi guys. I was tasked with created a model for automatic UAV navigation through narrow spaces and openings.

I always create models and never worried about deployemnt and this is my project where I need keep the hardware and the deployment in mind. So I am kinda stuck.

My management was not daring enough to give me a drone and develop the model with it. instead I am using Ardupilot SITL in Gazebo Harmonic sim. Tbh, never heard of them before a week. So all of this like control theory, mavlink protocols are all new too me.

I created a window frame of sorts and decided to let my drone pass through it. This is my first minigoal. So I'd love to hear your suggestions and reference materials for:

Q1. What is best way to detect openings large enough to let the drone pass through it?

First, I tried canny edge detection using RGB feed but the contours on the world is throwing the detection off.

Then, I tried using depth sensor but the range at which it detects the window frame is sub par. Thought of fusing RGB and depth (heard from claude) but my colleague from Robotics team advised me not to get into that rabbit hole.

Now I trying to use LiDAR but having a tough time integrating that in my sdf file. And I am genuinely don't know how to rectify it.

Q2. How to control the drone precisely?

I don't know repeat myself. But I don't know control theory either. I really can't wrap my head around on the PID controller. I'd really would like to know how changes in various gains affect the system like P gain would let the drone sweep faster/slower (tbh idk).

My management specifically asked for MPC controller. So I'd like to how to implement that.

Q3. what to do to increase the agility/speed of the drone?

Not a immediate goal. But it's something my management expecting my model to achieve it.

I'd like to properly learn all of these but I am time constrained. My management is like "ask chatGPT and finish the model asap". So I'd appreciate if you recommend materials and references which will help me learn and implement sooner. Also your experienced suggestions are most welcome and appreciated.

Thanks in advance, guys