Hi, my name is Vasilis and I was born in Athens, Greece. I hold a MSc degree in Computer Science and Engineering and I am former chairman of IEEE University of Ioannina Student Branch. My thesis work concerns quadrotor landing using visual servoing. Furthermore, I love all those weekend projects where I build challenging IoT projects and expand my knowledge in Networks, Robotics and Automation. I am also the author in two technical books about Quadrotor and Raspberry Pi, which were published from Packt Publishing, Birmingham, UK. Currently, I am working as Junior Software Engineer, designing and developing software relevant to ERP.Leadership Creativity Trustworthness Project Management Teamwork Prototyping
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Title: "Autonomous quadrotor landing using Visual Servoing"
My diploma thesis concern, the research about a well known issue in aerial robots. The landing procedure is a hard to solve problem due to many factors such as enviroment. It is a problem where SpaceX, NASA and DJI a leader company in UAV is against when trying to land a UAV or even a rocket. I first designed a quadrotor model in MATLAB, to simulate a simple landing procedure. I then developed a more advanced landing procedure using air destarbances and the final target was moving with a steady linear velocity.
Phase 1 - Study of dynamic and kinematic model
In the first phase I studied several papers about the dynamic and kinematic model of a quadrotor. The dynamic model define all the forces which act in the physical quadrotor and the kinematic model define all the equations that are used to describe the quadrotor movement.
Phase 2 - Simulation
In the seconds phase I start the coding procedure, using MATLAB software to create a simple demo on how a quadrotor can landing on a steady and a moving target. No framework or library was used, all the code was developed by scratch using the dynamic and kinematic model as said above.
Phase 3 - First Prototype
The need of a first prototype started here. Using Ardupilot 2.8, Arduino Mega and a Raspberry Pi 3 , I builded a prototype that was able to identity points of interest and output a relevant velocity in 4 axis.
Phase 4 - Visual Servoing
The part of Visual servoing and image processing was studied as a different project due to hardware incompatibility and low budget. I have developed an 4 points detection algorithm that retunrs the desired linear velocities of the robot.
Phase 5 - Final work
In this part I mostly fix bugs and incompatibility issues. Theoretically, the phase 4 and phase 3 should be enough, but in reality nothing goes as you planned, so I did w/e it takes to make it work.
My final presentation is available in [GR] language. Download it from here
Drop me an email at vtzivaras [at] gmail [dot] com and I will get back to you as soon as possible.