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This page contains codes and resources for the event DRDO's UAV Guided UGV Navigation Challenge in the Inter IIT Tech Meet 10.0 |
{% file src="../.gitbook/assets/DRDO_UAV_ps.pdf" %} UGV navigation challenge problem Statement {% endfile %}
This file contains our architecture and approach to the problem statement:
{% file src="../.gitbook/assets/10_Documentation.pdf" %} Technical Report {% endfile %}
This file contains the slides presented after the competition:
{% file src="../.gitbook/assets/10_presentation.pdf" %} Slides {% endfile %}
The complete software stack is available on Github. It contains all the modules we have used:
General Overview of the modules used:
- Offboard: This Module initializes an offboard flight node in ROS, waits for the MAVROS connection, and performs a takeoff procedure to guide the vehicle to a specified altitude.
- Prius_Controller: It is responsible for waypoint publishing, steering and throttle/brake control of the UGV based on different controllers.
- Prius Detector: This Module performs localization calculations to estimate UGV's position and velocity.
- Segmentation: This Module segments the road from the pointcloud using RANSAC along with some heuristics and algorithms for eliminating rogue data.
- Visualization: This code initializes a ROS node for visualizing trajectories using markers, subscribing to odometry data and reading a CSV file to extract points for the mean path. shorten