Camera Aruco Tags Dectection

README.md

@@ -1,13 +1,12 @@
 # UAV-UGV Simulation
 
-**GPS-Denied Navigation with Vision-Based Localization**
-
 A ROS 2 simulation environment for UAV and UGV development using GPS-denied navigation with vision-based localization, while maintaining GPS-based geofencing for safety.
 
 ## Features
 
 - **GPS-Denied Navigation**: Visual odometry, optical flow, and EKF sensor fusion
 - **GPS-Based Geofencing**: Safety boundaries using GPS (navigation remains GPS-free)
+- **ArUco Marker Search**: Spiral, lawnmower, and Lévy walk search algorithms
 - **Multi-Vehicle Support**: Coordinated UAV and UGV operations
 - **ArduPilot SITL**: Full flight controller simulation
 - **Gazebo Harmonic**: Modern physics simulation
@@ -32,25 +31,21 @@ Installation takes 20-40 minutes (builds ArduPilot from source).
 
 ## Quick Start
 
-### Autonomous Mode (Recommended)
-
-The UAV automatically arms, takes off, and executes a mission:
-
 ```bash
 cd ~/sim/uav_ugv_simulation
 source activate_venv.sh
 
-# Hover mission
-bash scripts/run_autonomous.sh --mission hover
+# Spiral search (default)
+bash scripts/run_autonomous.sh --search spiral
 
-# Square pattern
-bash scripts/run_autonomous.sh --mission square
+# Lawnmower search
+bash scripts/run_autonomous.sh --search lawnmower
 
-# Circle pattern
-bash scripts/run_autonomous.sh --mission circle
+# Lévy walk search
+bash scripts/run_autonomous.sh --search levy
 
 # WSL/Software rendering
-bash scripts/run_autonomous.sh --software-render --mission hover
+bash scripts/run_autonomous.sh --software-render --search spiral
 ```
 
 ### Manual Mode (MAVProxy)
@@ -70,13 +65,15 @@ source /opt/ros/humble/setup.bash
 ros2 launch uav_ugv_simulation full_simulation.launch.py
 ```
 
-## Mission Types
+## Search Algorithms
 
-| Mission | Description |
-|---------|-------------|
-| `hover` | Take off, hover for 30 seconds, land |
-| `square` | Fly a 5m square pattern |
-| `circle` | Fly a circular pattern |
+| Algorithm | Description |
+|-----------|-------------|
+| `spiral` | Expanding square spiral from current position |
+| `lawnmower` | Systematic back-and-forth lane coverage |
+| `levy` | Random walk with Lévy-distributed step lengths |
+
+All search algorithms continuously scan for ArUco markers using the downward camera during flight. Detected markers are logged with their ID, position, and distance.
 
 ## GPS-Denied Navigation
 
@@ -88,6 +85,25 @@ ros2 launch uav_ugv_simulation full_simulation.launch.py
 
 **GPS is ONLY used for geofencing** (safety boundaries), NOT for navigation or position control.
 
+## Speed Limits
+
+Speed and acceleration are capped to prevent aggressive tilting in simulation. Defaults are applied automatically via `configure_speed_limits()` in `setup_ardupilot()`.
+
+| Parameter | Default | Unit |
+|-----------|---------|------|
+| `WPNAV_SPEED` | 150 | cm/s |
+| `WPNAV_ACCEL` | 100 | cm/s² |
+| `WPNAV_SPEED_UP` | 100 | cm/s |
+| `WPNAV_SPEED_DN` | 75 | cm/s |
+| `WPNAV_ACCEL_Z` | 75 | cm/s² |
+| `LOIT_SPEED` | 150 | cm/s |
+
+Override in code:
+
+```python
+ctrl.configure_speed_limits(wpnav_speed=200, wpnav_accel=150)
+```
+
 ## Project Structure
 
 ```
@@ -98,13 +114,17 @@ uav_ugv_simulation/
 │   ├── run_simulation.sh       # Manual simulation
 │   └── kill_simulation.sh      # Cleanup
 ├── src/
-│   ├── control/                # UAV/UGV controllers
-│   ├── vision/                 # Visual odometry, optical flow
+│   ├── main.py                 # Entry point
+│   ├── control/                # UAV controller, search algorithms
+│   ├── vision/                 # ArUco detector, visual odometry, optical flow
 │   ├── localization/           # EKF sensor fusion
 │   ├── navigation/             # Path planning
 │   └── safety/                 # Geofencing, failsafe
+├── config/
+│   ├── search.yaml             # Search algorithm parameters
+│   ├── uav.yaml                # UAV configuration
+│   └── ugv.yaml                # UGV configuration
 ├── launch/                     # ROS 2 launch files
-├── config/                     # Configuration files
 ├── models/                     # Gazebo models
 └── worlds/                     # Gazebo worlds
 ```
@@ -113,7 +133,7 @@ uav_ugv_simulation/
 
 | Command | Description |
 |---------|-------------|
-| `bash scripts/run_autonomous.sh` | Run autonomous simulation |
+| `bash scripts/run_autonomous.sh` | Run autonomous search |
 | `bash scripts/run_simulation.sh` | Run manual simulation |
 | `bash scripts/kill_simulation.sh` | Kill all processes |
 | `bash scripts/uninstall.sh` | Uninstall ArduPilot |