153 lines
4.5 KiB
Markdown
153 lines
4.5 KiB
Markdown
# UAV-UGV Simulation
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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.
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## Features
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- **GPS-Denied Navigation**: Visual odometry, optical flow, and EKF sensor fusion
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- **GPS-Based Geofencing**: Safety boundaries using GPS (navigation remains GPS-free)
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- **ArUco Marker Search**: Spiral, lawnmower, and Lévy walk search algorithms
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- **Multi-Vehicle Support**: Coordinated UAV and UGV operations
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- **ArduPilot SITL**: Full flight controller simulation
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- **Gazebo Harmonic**: Modern physics simulation
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- **ROS 2 Integration**: Full ROS 2 Humble/Jazzy support
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## Requirements
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- Ubuntu 22.04 or 24.04 (WSL2 supported)
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- 16GB RAM recommended
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- 50GB disk space
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- NVIDIA GPU recommended (software rendering available)
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## Installation
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```bash
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git clone <repository-url> ~/sim/uav_ugv_simulation
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cd ~/sim/uav_ugv_simulation
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bash setup.sh
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```
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Installation takes 20-40 minutes (builds ArduPilot from source).
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## Quick Start
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```bash
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cd ~/sim/uav_ugv_simulation
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source activate_venv.sh
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# Spiral search (default)
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bash scripts/run_autonomous.sh --search spiral
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# Lawnmower search
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bash scripts/run_autonomous.sh --search lawnmower
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# Lévy walk search
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bash scripts/run_autonomous.sh --search levy
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# WSL/Software rendering
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bash scripts/run_autonomous.sh --software-render --search spiral
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```
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### Manual Mode (MAVProxy)
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```bash
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bash scripts/run_simulation.sh
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# Wait for EKF initialization (~15 seconds), then:
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# mode guided
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# arm throttle force
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# takeoff 5
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```
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### ROS 2 Mode
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```bash
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source /opt/ros/humble/setup.bash
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ros2 launch uav_ugv_simulation full_simulation.launch.py
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```
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## Search Algorithms
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| Algorithm | Description |
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|-----------|-------------|
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| `spiral` | Expanding square spiral from current position |
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| `lawnmower` | Systematic back-and-forth lane coverage |
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| `levy` | Random walk with Lévy-distributed step lengths |
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All search algorithms continuously scan for ArUco markers using the downward camera during flight. Detected markers are logged with their ID, position, and distance.
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## GPS-Denied Navigation
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**Navigation** uses only relative positioning:
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- Visual odometry from cameras
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- Optical flow sensors
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- IMU integration
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- Local coordinate frames (NED)
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**GPS is ONLY used for geofencing** (safety boundaries), NOT for navigation or position control.
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## Speed Limits
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Speed and acceleration are capped to prevent aggressive tilting in simulation. Defaults are applied automatically via `configure_speed_limits()` in `setup_ardupilot()`.
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| Parameter | Default | Unit |
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|-----------|---------|------|
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| `WPNAV_SPEED` | 150 | cm/s |
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| `WPNAV_ACCEL` | 100 | cm/s² |
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| `WPNAV_SPEED_UP` | 100 | cm/s |
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| `WPNAV_SPEED_DN` | 75 | cm/s |
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| `WPNAV_ACCEL_Z` | 75 | cm/s² |
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| `LOIT_SPEED` | 150 | cm/s |
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Override in code:
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```python
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ctrl.configure_speed_limits(wpnav_speed=200, wpnav_accel=150)
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```
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## Project Structure
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```
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uav_ugv_simulation/
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├── setup.sh # Installation script
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├── scripts/
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│ ├── run_autonomous.sh # Autonomous simulation
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│ ├── run_simulation.sh # Manual simulation
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│ └── kill_simulation.sh # Cleanup
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├── src/
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│ ├── main.py # Entry point
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│ ├── control/ # UAV controller, search algorithms
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│ ├── vision/ # ArUco detector, visual odometry, optical flow
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│ ├── localization/ # EKF sensor fusion
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│ ├── navigation/ # Path planning
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│ └── safety/ # Geofencing, failsafe
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├── config/
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│ ├── search.yaml # Search algorithm parameters
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│ ├── uav.yaml # UAV configuration
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│ └── ugv.yaml # UGV configuration
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├── launch/ # ROS 2 launch files
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├── models/ # Gazebo models
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└── worlds/ # Gazebo worlds
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```
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## Commands
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| Command | Description |
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|---------|-------------|
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| `bash scripts/run_autonomous.sh` | Run autonomous search |
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| `bash scripts/run_simulation.sh` | Run manual simulation |
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| `bash scripts/kill_simulation.sh` | Kill all processes |
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| `bash scripts/uninstall.sh` | Uninstall ArduPilot |
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## Documentation
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- [Setup Guide](docs/setup_guide.md)
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- [Usage Guide](docs/usage.md)
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- [Architecture](docs/architecture.md)
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- [GPS-Denied Navigation](docs/gps_denied_navigation.md)
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- [WSL Setup](docs/wsl_setup_guide.md)
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- [Troubleshooting](docs/troubleshooting.md)
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## License
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MIT License
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