abj247/uav-obstacle-avoidance

This repo contains the codes for algorithms and techniques for enabling UAVs to navigate safely and avoid obstacles in their flight paths using LiDAR sensor data.

UAV-Obstacle-Avoidance

This repo consists of obstacle avoidance implemented in Robot operating system for Unmanned Aerial Vehicle (UAV) using LiDAR scan data. Hector quadrotor package is used for spawning the drone in the gazebo environment. Readings from SONAR sensor with python script is used for flying the drone to a certain height. LiDAR readings are used to detect obstacles in the surroundings.

To spawn the drone in the gazebo open the terminal and use the command:

roslaunch drone_sim spawn_drone.launch

For flying the drone, open another terminal and use the command:

rosrun drone_sim make_drone_fly.py

For simulating obstacle avoidance, open another teminal use command:

rosrun drone_sim obstacle_avoidance.py

Spawned drone in gazebo with LiDAR

Drone flying in air with LiDAR and SONAR sensor (Low LiDAR range)

Drone flying in air with LiDAR and SONAR (high LiDAR range)

Drone in between obstacles

Drone successfully obtained collison-free path