UTILIZATION OF MAVROS IN ELECTRO OPTICAL SEEKER SUBSYSTEM IN THE DESIGN OF ROS BASED AUTONOMOUS GUIDED PLATFORM ARCHITECTURE
This work discusses the use of MAVROS as one of the basic components in the design of ROS-based autonomous vehicle control architecture. The MAVROS implementation in the architecture that was designed, focuses on its application in vehicle control and visual target-based pointing. Target visualizati...
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| Main Author: | |
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/47079 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | This work discusses the use of MAVROS as one of the basic components in the design of ROS-based autonomous vehicle control architecture. The MAVROS implementation in the architecture that was designed, focuses on its application in vehicle control and visual target-based pointing. Target visualization is realized by using a stabilized electro optical seeker (using a 3-axis gimbal and an IP-based digital zoom camera) that can be controlled by the operator by using a joystick to aim and select a target. The designed architecture is implemented on an Ardupilot-based multirotor platform, and flight testing has been carried out to test the functionality of the vehicle control and electro optical seeker control. This work focuses on the development of the Processing Block (AIR) subsystem.
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