Inter-IIT TechMeet 9.0

This page contains codes and resources for the event DRDO DGRE's Vision Based Obstacle Avoidance Drone in the Inter IIT Tech Meet 9.0

Inter-IIT TechMeet 9.0

Problem Statement

1MB

DRDO_VOAD_ps.pdf

pdf

Technical Report & Slides

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

1MB

9_Documentation.pdf

pdf

This file contains the slides presented after the competition:

661KB

9_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_dgre_voad

General Overview of the modules used:

• Explorer: This Module Integrates the Takeoff, Landing, Detection and planning modules. Publishes final setpoints for landing of the quadrotor

• Box_Detector: Uses the downward facing camera to detect the ArUco marker and calculate its position provided it has the id 0 using OpenCV.

• Active_Planner: This Module is responsible for finding and evaluating frontiers in a 3D environment based on a TSDF (Truncated Signed Distance Function) map. It Then checks if there is a waypoint in the queue and if not, selects and adds the best frontier. If there is a waypoint, it generates a trajectory using a graph based search algorithm, tracks it, and if aborted, selects a new frontier for the process to repeat.

• Broadcaster: This module listens to the pose topic and broadcasts a transform from the "map" frame to the "base_link" frame using TF2.