The FORAY team is presently working on the integration of tasks for the individual blimp. This includes ball detection (presently using color detection for the prototype), ball capture (using the basket and a LIDAR+camera system), goal detection (presently using April Tag detection and shape detection), and goal passing (using propulsion).

Shown below are few of the first attempts to demonstrate this integration. However, despite several iterations of this process, we were unable to produce a successful demo.

In order to fix these problems, we intend to perform the following:

  • Modularize the code
  • Include control of vertical motion using barometer + IMU
  • Conduct a more thorough test of the PID values and see if that helps with the excessive turning of the blimp once it detects the ball

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