Objective: The objective of this project was to get a CrazyFlie drone to navigate in a five red PVC-pipe obstacle course that could be placed in arbitrary positions.

Approach: The approach we took involved using edge (and color) detection to find the center of all the PVC pipes using the images from the fisheye camera onboard the drone. Using geometry we then could identify the largest gaps between the obstacles. Finally, we had a low level PID controller that would go towards the center of this largest gap.

Results: The video below shows the result of the algorithm which successfully can navigate through a stationary obstacle course as well as when the obstacles are moving.