Wireless protocol and virtual reality support for controlling unmanned aerial vehicles

Hrlec, Matej (author), Fraundorfer, Friedrich (mentor), Marolt, Matija (co-mentor)

The growing popularity and affordability of consumer drones is driven by continuous advances on ease of use and autonomy. In our work we aspired to provide more development options for UAVs, by looking into tools to help with future research. We provided a robust and scalable solution for communication based on MAVLink protocol between DJI drones, its onboard computer, and an Android tablet computer, where the telecommunication link is established over the remote controller. We tested the range and reliability of our framework in simulated and real-life environments where it proved fully capable of steering a drone on flight missions. We also did a proof of concept integration with an existing ground control station. To allow for additional methods of visualization and manipulation, we also developed a fully ROS-integrated tool based on the OpenVR API that provides support for most VR headsets and controllers through RViz visualizer. We furthermore looked into using that tool for adaptive view management in an exploration scenario, where the drone operator is provided an overview of the area of interest through a secondary virtual camera or drone.

• Language: English
• Keywords: drone, unmanned aerial vehicle, DJI, ROS, MAVLink, Android, C++, pluginlib, autonomous flight, virtual reality, RViz
• Work type: Master's thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2019
• PID: 20.500.12556/RUL-112876
• COBISS.SI-ID: 1538457795
• Publication date in RUL: 18.11.2019

Secondary language

• Language: Slovenian
• Title: Brezžični protokol in podpora za navidezno resničnost za upravljanje brezpilotnih zrakoplovov

Abstract

Naraščajoča priljubljenost potrošniških brezpilotnih letalnikov je posledica bistvenega napredka pri avtonomnosti avtopilotov in enostavnosti uporabe. V našem magistrskem delu smo zato želeli razviti nova orodja za brezpilotnike, ki bi lahko bile v pomoč pri prihodnjih raziskavah. Zagotovili smo robustno in prilagodljivo rešitev za komunikacijo, ki temelji na protokolu MAVLink. Telekomunikacijska povezava je vzpostavljena preko daljinskega upravljalnika med DJI brezpilotnikom, računalnikom in tabličnim računalnikom Android. Doseg in zanesljivost naše rešitve smo preizkusili v simuliranem in zunanjem okolju, kjer se je izkazalo, da je sposobna krmiliti brezpilotnika pri letu. Prikazali smo tudi koncept za integracijo z obstoječo zemeljsko kontrolno postajo. Da bi omogočili dodatne metode vizualizacije in manipulacije, smo razvili popolnoma integrirano orodje za ROS, ki temelji na OpenVR API-ju. Slednji zagotavlja vmesnike za uporabo večine očal za navidezno resničnost in krmilnikov preko vizualizatorja RViz. Hkrati smo preučili uporabo omenjenega orodja pri prilagodljivem upravljanju pogleda v raziskovalnem scenariju, kjer je operaterju letalnika zagotovljen pregled nad interesnim območjem preko sekundarne navidezne kamere ali letalnika.

• Keywords: brezpilotnik, letalnik, zrakoplov, DJI, ROS, MAVLink, Android, C++, pluginlib, avtonomni let, navidezna resničnost, RViz