Autonomous navigation of quadrotor UAV in a forest without GPS.

Autonomous navigation of quadrotor UAV in GPS-denied environments (forest).
Thanks to the fusion of information coming from the LIDAR and the IMU it is possible to estimate the state of the system (without GPS) and to generate the map of the environment (obstacles) at the same time.
The state of the system is used to stabilize the quadrotor via a Flight Control Unit (modified Arducopter firmware).
The map is used to generate a safe path in real time to navigate from start to goal in a safe way.

Publication to appear.

Hardware:
-Custom Frame
-Pixhawk FCU
-Arduino
-Odroid XU4
-Lidar Hokuyo UTM-30LX-EW

[rudeadyet]

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. :)

[klaus]

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

[balua]

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!

[ravik]

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

[manikj]

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

[salahuddinashraf]

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

[techiesuraj]

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

[willliu]

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.

[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!!

[mishah]

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?

[karkin]

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

[Dr.Stein]

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

[austins]

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!

[IlSher]

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

[jamesboucher]

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,

[sudharsanv]

can you make a tutorial on this please??