A vision based multirotor aircraft for use in the security industry

This research consisted of developing a vision based multirotor aircraft that could be used in the security industry. A second-hand aircraft was purchased and modified. The aircraft made use of a Pixhawk flight controller and a Odroid XU4 companion computer, which resulted in the computer injecting commands into the flight controller. Robot Operating System was installed and used on the companion computer to integrate the vision system and the aircraft. The vision system was designed to help develop a landing system where the aircraft would land on an ArUco marker. The vision system also allowed the aircraft to detect and follow humans. A Software in the Loop (SITL) was run alongside Gazebo, allowing the developed landing system and the human detecting system to be simulated and tested. The developed landing system was implemented on the aircraft, where the developed landing system was tested and compared to the aircraft’s current GPS based landing system. The developed landing system obtained a better overall accuracy , while also taking longer to land the aircraft compared to the GPS based landing system. There were also numerous manual and autonomous test flights implemented on the aircraft