sarthak268/obstacle_avoidance_for_uav

ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles.

Obstacle Avoidance Simulator for Unmanned Aerial Vehicles (UAVs)

This is a ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles, using a path planning algorithm. The testing is done through a node which plots the waypoints, obstacles and the current pose of UAV on RVIZ for examining the accuracy of the algorithm.

Requirements :

1. ROS
2. ardupilot
3. mavros
4. rviz
5. Mission Planner (preferred) or apm planner

Commands :

Testing existing Algorithms :

1. roscore
2. /(path to sim_vehicle)/sim_vehicle.py --console --map --aircraft test
3. roslaunch mavros apm2.launch fcu_url:=udp://localhost:14550@ 
4. rosrun map currentXY  
5. rosrun map markPoints
6. rviz 
(write the frame id i.e. /my_frame in the Fixed Frame)
7. rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10
8. rosrun map waypoints

Citing

@misc{bhagat-obstacle-simulator-ros,
  author = {Sarthak Bhagat},
  title = {sarthak268/Obstacle_Avoidance_for_UAV},
  url = {https://github.com/sarthak268/Obstacle_Avoidance_for_UAV},
  year = {2018}
}

You may also want to look at the following paper (accepted at ICUAS'20).

@article{Bhagat2020UAVTT,
  title={UAV Target Tracking in Urban Environments Using Deep Reinforcement Learning},
  author={Sarthak Bhagat and P. B. Sujit},
  journal={ArXiv},
  year={2020},
  volume={abs/2007.10934}
}

For any queries, please contact me via mail on [email protected]

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obstacle_avoidance_for_uav's Issues

Visualizing with gazebo

Visualizing with gazebo is very straightforward.
How do you visualize it with a gazebo?

Which Course are doing for simulating this algorithm?

Hi, how do you check the correctness of this algorithm? Is there a MOOC available that has an environment to run simulations of this algorithm?

Are you using any hardware to run your code?

[Suggestion] Potential Field Navigation

Looking at the code it seems you are not using any kind of path planning algorithm.
It would be very easy to implement a 2D potential field navigation which could be a starting point for robots moving on a bidimensional space (ASVs).

ROS2 Port

Hi,

Is there any road map to port this to ROS2 ?
If not, I'd be happy to contribute to a rolling/galactic/foxy branch.