ardrone-autonomy

Provides key building blocks to create autonomous flight applications with the AR.Drone. Works as a layer on top of the node-ar-drone library.

This work is based on the Visual Navigation for Flying Robots course.

This work has just started, this branch is the development branch, there are no packaged release yet.

Planned features

Here is a list of all the cool stuff this library could provide one day.

Simple State estimation based on the integration of the drone odometry.
Extended Kalman Filter leveraging the onboard tag detection as the observation source for an Extended Kalman Filter. This provides much more stable and usable state estimate.
PID Controler to autonomously control the drone position.
Visual motion estimation estimates motion from visual image processing.

Usage

var client = require('ar-drone').createClient();
var autonomy = require('autonomy').stateEstimate(client);

autonomy.on('positon', function(position) {
    console.log('Estimated position: %j', position);
});

License

The MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.