Stalker v4.7

Overview

Stalker Drone v4.7 is a Python-based drone tracking system that utilizes ArUco marker detection and tracking to follow a target. The system integrates with MAVLink-based drones using DroneKit and provides autonomous flight and target tracking capabilities.

Features

• Autonomous Takeoff & Navigation: The drone arms, takes off, and navigates to a predefined location.
• ArUco Marker Detection: Uses OpenCV to detect and track ArUco markers.
• Object Tracking: Employs KCF tracking to follow a detected marker.
• Gimbal Control: Adjusts the gimbal to maintain focus on the target.
• Waypoint Navigation: If tracking is lost, follows a predefined search pattern.
• MAVLink Communication: Uses pymavlink to send velocity and navigation commands.

DEMO

This is a clip of one of the low-speed flight test at the DTU sports ground.

Dependencies

Ensure you have the following dependencies installed before running the script:

pip install opencv-python numpy dronekit pymavlink

Hardware Requirements

• A MAVLink-compatible drone (e.g., ArduCopter-based drones)
• A gimbal-mounted camera
• A companion computer running Python

Usage

1. Connect the Drone

Ensure your drone is connected and running MAVProxy or similar software. The script connects to the drone using:

vehicle = connect("127.0.0.1:14555", wait_ready=False)

Modify the connection string if needed for your setup.

2. Run the Script

Execute the script with:

python stalker_v4.7.py

3. ArUco Marker Detection

Place an ArUco marker in the drone's field of view. The drone will:

1. Detect the marker.
2. Lock onto it using a tracker.
3. Adjust its gimbal to maintain focus.
4. Move towards the target if it drifts beyond a defined range.

4. Lost Tracking Handling

• If the marker is lost, the drone follows a predefined search pattern.
• It reattempts to lock onto the marker.

Notes

• Modify the hardcoded waypoints (lats and lons) for your area.
• Ensure the camera is functional before running the script.

Authors

Developed by V R Vasudevan.