Progress Report: 3/6/16

We have decided to switch our strategy of autonomous flight by using the bottom camera and following a line on the floor. This was for the following reasons:

• The main camera couldn't detect markers that was further from a certain distance, which would eliminate the possibility of a marker at the end of hallways
• Following markers on the floor could possibly increase the accuracy of the flight
• Image processing could possibly be more accurate due to the fact it is just finding a line rather than a shape
• The drone will not fly as high, hopefully to increase the accuracy of the flight and line detection

We are now focused on switching the existing image processing to detect lines rather than a circle, and also thinking of different ways to deal with intersections and turning. So far, we are thinking that different colored circles will be used at the intersection and help to determine the direction the drone will turn to. This will be helpful once we implement flight paths to different rooms. Multi-color detection will also have to be utilized in order for this to be successful.

One problem that we have is that when detecting a line, the algorithm will highlight the border of the image for unknown reasons. Hopefully this isn't a significant issue and will be resolved soon.