Autonomous Navigation System for a Quadrotor

asked 2016-01-15 14:15:13 -0500

sandy454 gravatar image

Hi All,

I have built a quadrotor using Raspberry Pi and now I would like to develop an autonomous navigation system for the drone using ROS. I am familiar with ROS Navigation stack, but my interpretation is that the navigation stack has been developed for ground robots. Anyone has any experience with ROS Navigation Stack on a drone? or any other navigation packages specifically developed for drone navigation? Different parts of my drone are: 1) Raspberry Pi 2) 9Dof sensor GY80
3) wifi 4) Basic web camera 5) I2c to PWM motor driver

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To me you should rethink about it, because ROS is ok for ground robots but for a drone you have others things, that you have to consider too. I personally developed a drone using ROS but there a lot of pitfall that you should consider. First of all there are no floating link types. You have to

Andromeda gravatar image Andromeda  ( 2016-01-17 02:28:53 -0500 )edit

...write a lot of things on your own. Maybe are you very skilled and you can do that, but I strongly suggest you to modularize your project and to use ROS to manage smaller things like: sensor on board, dynamic model, RX readings, etc.

Andromeda gravatar image Andromeda  ( 2016-01-17 02:30:51 -0500 )edit

Any news about this project? I'm interested in 2d ros navigation on quadrotor (fixed z)

polde gravatar image polde  ( 2017-12-28 08:09:22 -0500 )edit

If you are willing to replace your camera with a stereo one, you can use MoveIt! for your drone. Will Selby's great work is a starter. But it only uses GUI, so I'm developing a project with API.

tahsinkose gravatar image tahsinkose  ( 2018-09-14 00:07:53 -0500 )edit

You can check it and contribute to it if you would like to. But for the time being there isn't a simple 3D navigation stack. There are several SLAM variants implemented by TUM Computer Vision lab that can also be used to build a navigation system for a drone. But they have many issues for now.

tahsinkose gravatar image tahsinkose  ( 2018-09-14 00:13:19 -0500 )edit