Autonomous navigation of quadrotor UAV in a forest without GPS.

[@rudeadyet1992]

Great work!!! You could still use GPS to track the shortest path or the desired location and use sensor to travel that path autonomously. Just a thought. :)

[@techiesuraj7473]

can u help me to make this

[@enlightenphase713]

genius, love your work.

[@balua9]

Can you guys provide an overview of your ros stack? What packages you are using and what you have developed? If possible, can you also provide github links to any code you have developed you are open sourcing? Thanks!

[@tuloski]

Unfortunately we didn't publish anything well documented. You can find most of the code here: github.com/Shedino/SherpaHighLevel/tree/laser_slam under laser_slam branch. The documentation is really poor and part of the code is missing (the ardupilot modified code and arduino code), but it can be "easily" ported to PX4 code.

[@mohamedelsayedmahmoudelsay3211]

What is the frame of drone ?

[@klaus9503]

How did you estimate position? Did you set the trees as reference points or did you just use the accelerometer? Btw impressive work!

[@dottantmaurgal]

Really good job, my best wishes

[@manikj]

Do you have any research paper published for this project? can you share the link for paper? or may be git repository?

[@ravik50992]

Hii it's a nice work ... Is it open source ?? Can you share the document how you have done ??

[@willliu1306]

Excuse me, Could you teach me how to control your pixhawk over your Odroid ? Since I use the mavlink to control my Pixhawk from Raspberry, but it didn't send any location data except for altitude and accerlation. I am stuck with for a long time.

[@tuloski]

Hi, there are many ways depending on the code running on the Pixhawk. In our case we have an additional arduino that takes MAVlink messages from the ODROID and generates the PPM that goes into the Pixhawk as if it was the RC receiver.

[@willliu1306]

Thanks for your advice, I would try it !!

[@rmackay9]

If you're using ardupilot (which is what's in this video it seems) then you might want to look at the ardupilot's companion computer wiki page for details on how to connect using MAVLink. ardupilot.org/dev/docs/odroid-via-mavlink.html

[@enlightenphase713]

will Liu Can you share the info?

[@techiesuraj7473]

Please help me ,, i have to make a drone for competition ,, please tell ne how you make this drone

[@razbotics]

Are you using a particle filter?

[@sudharsanv2289]

whats the goal postion??

[@salahuddinashraf3329]

Hi, It looks really great job. Congratulations. I'm also interested in doing autonomous navigation with my copter. I'd like to ask, how did the copter defined its goal if the GPS was disabled? I mean there are no coordinated to navigate to, then how did it manage to find its goal? Thanks

[@tuloski]

The goal is defined by the user via the ground station in RVIZ in a local map, i.e. a map that is centered at the initial position of the copter.

[@sarahconnorh4609]

^^ we saw you piloting it

[@austins2570]

Hello, I am part of a student team working on designing an autonomous quad-copter. If you would be willing to talk please reach out!

[@mishah6623]

Grande video! è abbastanza potente la pixhawk per poter gestire la grande quantità di dati ricevuti dai sensori in un tipo di applicazione del genere?

[@tuloski]

No, infatti è presente un ODROID XU4 che comunica con la pixhawk.

[@manilasmoker]

due curiosità: -avete usato gmapping con odometria? - la pianificazione del moto nella mappa l'avete fatta con i setpoint di mavros o con il navigastion stack di ros? in ogni caso, complimenti!!

[@tuloski]

No, come base hector mapping poi abbiamo sviluppato un filtro complementare per stima di posizione, velocità e bias degli accelerometri fondendo dati SLAM e IMU. La pianificazione del moto è custom (A* smooth).

[@karkin96]

Hi, interesting development! One question, is this algorithm open-sourced?

[@tuloski]

It is sort of integration of open source software, and some custom software that could be easily open-sourced. The problem is that we don't have resources to write some serious documentation to use it easily.

[@karkin96]

ArduPilot is used based on the description, with a companion computer running ROS for onboard computing I assume. I'm interested to find out more on how you modified the firmware if you are willing to share? Thanks!

[@Dr.Stein99]

Only $3,000 for the lidar? So worth it to fly a copter in the forrest.

[@tuloski]

Well if you have to find a lost person and save his life or do life-threatening jobs as fire monitoring it's worth it ;).

[@IlSher]

Looks nice! How did you achieve that precision in drone position estimation? Does it drift over time?

[@tuloski]

With LIDAR. The drift is very low over time, but it's there. There is no loop closure, but for a flight of 10-20 minutes the error is around 1-2%.

[@sudharsanv2289]

can you make a tutorial on this please??

[@jamesboucher1903]

amazing and scary one step closer to slaughterbots or skynet,now the air force wants to use a replicator for thousands of drones will they let AI build them,

[@rishabhlal8750]

What the fuck happened !??