Inter-IIT TechMeet 10.0

This page contains codes and resources for the event DRDO's UAV Guided UGV Navigation Challenge in the Inter IIT Tech Meet 10.0

Inter-IIT TechMeet 10.0

Problem Statement

5MB

DRDO_UAV_ps.pdf

pdf

Technical Report & Slides

This file contains our architecture and approach to the problem statement:

2MB

10_Documentation.pdf

pdf

This file contains the slides presented after the competition:

992KB

10_presentation.pdf

pdf

Software Stack

The complete software stack is available on Github. It contains all the modules we have used:

• https://github.com/AerialRobotics-IITK/inter_iit_uav_guided_ugv

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